JP2018080554A - Shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shovel with which it is possible to eliminate special waterproof measures for a hybrid controller.SOLUTION: The shovel comprises a revolving superstructure, a cabin that an operator boards, a main pump 14 that supplies operating fluid to a hydraulic actuator, a revolving electric motor 21 that drives the revolving superstructure, an inverter 18B and a lifting pressure converter 100 that drive the revolving electric motor 21, and a hybrid controller 30B that controls the inverter 18B and the lifting pressure converter 100. The hybrid controller 30B is provided inside the cabin.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a hybrid excavator.

  2. Description of the Related Art Hybrid excavators including an assist motor that assists an engine that is a driving force source of a hydraulic pump that supplies hydraulic oil to a hydraulic actuator, a swing motor that swings and drives an upper swing body, and the like are known.

  In a hybrid excavator, there is a power storage device that supplies electric power to an electric motor such as an assist motor or a turning motor, and a control device that controls a drive device (for example, an inverter, a converter, etc.) that drives the electric motor (hereinafter referred to as a hybrid controller). Provided (see Patent Document 1).

  In Patent Literature 1, the hybrid controller is mounted on the front right frame of the upper swing body integrally with the power storage device and the drive device.

JP 2012-172332 A

  However, as in Patent Document 1, when the hybrid controller is mounted on the frame together with the power storage device and the drive device, a waterproof structure is adopted for the hybrid controller, or it is accommodated in a waterproof case. It is necessary to take waterproof measures. For this reason, there is a concern of cost increase and increase in occupied space due to waterproofing measures.

  Then, in view of the said subject, it aims at providing the shovel which can make the special waterproof countermeasure with respect to a hybrid controller unnecessary.

In order to achieve the above object, in one embodiment of the present invention,
A swivel,
A cabin on which the operator is boarded;
A hydraulic pump for supplying hydraulic oil to the hydraulic actuator;
An electric motor that drives the swivel body or the hydraulic pump;
A driving device for driving the electric motor;
A first controller for controlling the drive device,
The first controller is provided in the cabin.
An excavator is provided.

  According to the present embodiment, it is possible to provide an excavator that can eliminate the need for special waterproofing measures for the hybrid controller.

It is a side view which shows an example of an shovel. It is a block diagram which shows an example of a structure centering on the drive system of an shovel. It is side surface sectional drawing which shows an example of the arrangement structure of a hybrid controller. It is front sectional drawing which shows an example of the arrangement structure of a hybrid controller. It is a plane sectional view showing an example of the arrangement structure of a hybrid controller.

  Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

  First, the basic configuration of the shovel according to the present embodiment will be described with reference to FIGS.

  FIG. 1 is a side view showing an example of an excavator according to the present embodiment.

  The shovel according to the present embodiment includes a lower traveling body 1, an upper revolving body 3 that is mounted on the lower traveling body 1 so as to be able to swivel via a turning mechanism 2, a boom 4, an arm 5, and a bucket 6 as working devices. And a cabin 10 on which the operator is boarded.

  The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each crawler is self-propelled by being hydraulically driven by traveling hydraulic motors 1A and 1B (see FIG. 2).

  The upper turning body 3 is turned with respect to the lower traveling body 1 by being electrically driven by a turning electric motor 21 (see FIG. 2) described later.

  The boom 4 is pivotally attached to the center of the front part of the upper swing body 3 so that the boom 4 can be raised and lowered. An arm 5 is pivotally attached to the tip of the boom 4 and a bucket 6 is vertically attached to the tip of the arm 5. It is pivotally attached so that it can rotate. The boom 4, the arm 5, and the bucket 6 are respectively hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators.

  The cabin 10 is mounted on the front left side of the upper swing body 3. The cabin 10 is mounted on a swing frame (not shown) of the upper swing body 3 through a vibration control structure such as a liquid seal mount filled with silicon oil or the like.

  FIG. 2 is a block diagram illustrating an example of a configuration centering on a drive system of the shovel according to the present embodiment.

  In the figure, the mechanical power line is indicated by a double line, the high-pressure hydraulic line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric drive / control line is indicated by a thin solid line.

  First, the excavator hydraulic drive system according to the present embodiment includes an engine 11, a speed reducer 13, a main pump 14, and a control valve 17. Further, as described above, the hydraulic drive system according to the present embodiment includes the traveling hydraulic motors 1A and 1B, the boom cylinder 7 and the arm cylinder 8 that hydraulically drive the lower traveling body 1, the boom 4, the arm 5 and the bucket 6, respectively. And a bucket cylinder 9 and the like.

  The engine 11 is a main power source in the hydraulic drive system, and is mounted on the rear part of the upper swing body 3. The engine 11 rotates at a constant target rotational speed under the control of an engine controller 30C (see FIG. 3) described later. The engine 11 is, for example, a diesel engine using light oil as fuel, and drives the main pump 14 and the pilot pump 15 via the speed reducer 13. The engine 11 drives the motor generator 12 via the speed reducer 13 and causes the motor generator 12 to generate power.

  The speed reducer 13 is mounted on the rear part of the upper swing body 3, and includes two input shafts to which the engine 11 and a motor generator 12 to be described later are connected, and one main pump 14 and a pilot pump 15 that are coaxially connected in series. Has an output shaft. The reduction gear 13 can transmit the power of the engine 11 and the motor generator 12 to the main pump 14 and the pilot pump 15 at a predetermined reduction ratio. Further, the reduction gear 13 can distribute and transmit the power of the engine 11 to the motor generator 12, the main pump 14, and the pilot pump 15 at a predetermined reduction ratio.

  The main pump 14 (an example of a hydraulic pump) is mounted at the rear of the upper swing body 3 and supplies hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16. The main pump 14 is driven by the engine 11 or the engine 11 and the motor generator 12. The main pump 14 is, for example, a variable displacement hydraulic pump, and a regulator (not shown) controls the angle (tilt angle) of the swash plate under the control of an excavator controller 30A described later, thereby increasing the stroke length of the piston. It is possible to adjust and control the discharge flow rate (discharge pressure).

  The control valve 17 is a hydraulic control device that is mounted at the center of the upper swing body 3 and controls the hydraulic drive system in accordance with the operation of the operation device 26 by the operator. As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line 16, and hydraulic oil supplied from the main pump 14 is supplied to the traveling hydraulic motors 1 </ b> A (for right) and 1 </ b> B (for left). ), The boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 can be supplied. Specifically, the control valve 17 is a valve unit including a plurality of hydraulic control valves (direction switching valves) that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators.

  The electric drive system according to the present embodiment includes a motor generator 12, a turning electric motor 21, a turning speed reducer 24, a current sensor 21 s, a resolver 22, and a mechanical brake 23.

  In addition, although the shovel which concerns on this embodiment is provided with both the motor generator 12 which assists the engine 11, and the electric motor 21 for turning which drives the upper turning body 3 as an electric drive system, it is an aspect provided with either one. It may be.

  The motor generator 12 (an example of an electric motor) is an assist power source for the hydraulic drive system, and is mounted on the rear part of the upper swing body 3. The motor generator 12 is connected to a power storage system 120 including a capacitor 19 via an inverter 18A, and is powered by three-phase AC power supplied from the capacitor 19 and the turning electric motor 21 via an inverter 18A (an example of a driving device). The main pump 14 and the pilot pump 15 are driven via the speed reducer 13. The motor generator 12 is driven by the engine 11 to perform a power generation operation, and can supply the generated power to the capacitor 19 and the turning motor 21. Switching control between the power running operation and the power generation operation of the motor generator 12 is realized by driving and controlling the inverter 18A by a hybrid controller (HB controller) 30B described later.

  The turning electric motor 21 (another example of the electric motor) is provided in the turning mechanism 2 that connects the lower traveling body 1 and the upper turning body 3, and is a power running that drives the upper turning body 3 under the control of the HB controller 30B. Operation and regenerative operation in which regenerative electric power is generated to swing and brake the upper revolving structure 3 are performed. The turning electric motor 21 is connected to the power storage system 120 via an inverter 18B (another example of a driving device), and is driven by three-phase AC power supplied from the capacitor 19 and the motor generator 12 via the inverter 18B. . The turning electric motor 21 supplies regenerative power to the capacitor 19 and the motor generator 12 via the inverter 18B. Thereby, the capacitor 19 can be charged or the motor generator 12 can be driven by the regenerative power. Switching control between the power running operation and the regenerative operation of the turning electric motor 21 is realized by driving and controlling the inverter 18B by the HB controller 30B. A resolver 22, a mechanical brake 23, and a turning speed reducer 24 are connected to the rotating shaft 21 </ b> A of the turning electric motor 21.

  The turning speed reducer 24 is connected to the rotating shaft 21A of the turning electric motor 21 and decelerates the output (torque) of the turning electric motor 21 at a predetermined reduction ratio, thereby increasing the torque and turning the upper turning body 3. To drive. That is, during the power running operation, the turning electric motor 21 drives the upper turning body 3 to turn through the turning speed reducer 24. Further, the turning speed reducer 24 increases the inertial rotational force of the upper turning body 3 and transmits it to the turning electric motor 21 to generate regenerative power. That is, during the regenerative operation, the turning electric motor 21 performs regenerative power generation by the inertial rotational force of the upper turning body 3 transmitted through the turning speed reducer 24 and turns the upper turning body 3 by turning.

  The current sensor 21s detects the current of each of the three phases (U phase, V phase, W phase) of the turning electric motor 21. The current sensor 21s is provided, for example, in a power path between the turning electric motor 21 and the inverter 18B. The current sensor 21s transmits a detection signal corresponding to the current of each of the three phases of the turning electric motor 21 to the HB controller 30B.

  The resolver 22 detects the rotation position (rotation angle) of the turning electric motor 21 and the like. The resolver 22 transmits a detection signal corresponding to the detected rotation angle to the controller 30.

  Under the control of the HB controller 30B, the mechanical brake 23 mechanically generates a braking force with respect to the upper swing body 3 (specifically, the rotating shaft 21A of the swing electric motor 21). While turning and braking, the stopped state of the upper turning body 3 is maintained.

  The power storage system 120 of the excavator according to the present embodiment includes a capacitor 19, a DC bus 110, and a step-up / down converter 100. For example, the right front portion of the upper swing body 3 together with the inverters 18A and 18B of the electric drive system. Mounted on.

  The capacitor 19 is an example of a power storage device that supplies power to the motor generator 12 and the turning motor 21 and charges the generated power of the motor generator 12 and the turning motor 21.

  The DC bus 110 is disposed between the inverters 18 </ b> A and 18 </ b> B and the step-up / down converter 100, and controls power transfer between the capacitor 19, the motor generator 12, and the turning electric motor 21.

  The step-up / down converter 100 (another example of the driving device) performs a step-up operation so that the voltage value of the DC bus 110 falls within a certain range according to the operating state of the motor generator 12 and the turning electric motor 21. Switches the step-down operation. Switching control between the step-up / step-down converter 100 and the step-down operation is realized by the HB controller 30B based on the voltage detection value of the DC bus 110, the voltage detection value of the capacitor 19, and the current detection value of the capacitor 19.

  The shovel operating system according to the present embodiment includes a pilot pump 15, an operating device 26, a pressure sensor 29, and the like.

  The pilot pump 15 is mounted on the rear part of the upper swing body 3 and supplies pilot pressure to the operating device 26 via the pilot line 25. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 or the engine 11 and the motor generator 12.

  The operating device 26 includes levers 26A and 26B and a pedal 26C. The operation device 26 is provided in the vicinity of the cockpit of the cabin 10, and an operation input means for an operator to operate each operation element (the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, etc.). It is. In other words, the operating device 26 is used for hydraulic actuators (travel hydraulic motors 1A and 1B, boom cylinders 7, arm cylinders 8, bucket cylinders 9 and the like) and electric actuators (turning electric motor 21 and the like) that drive the operating elements. It is an operation input means for performing an operation. The operation device 26 (lever 26A, 26B and pedal 26C) is connected to the control valve 17 via a hydraulic line 27, respectively. As a result, a pilot signal (pilot pressure) corresponding to the operating state of the lower traveling body 1, the boom 4, the arm 5, the bucket 6 and the like in the operating device 26 is input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator according to the operation state in the operation device 26. The operating device 26 is connected to a pressure sensor 29 via a hydraulic line 28.

  As described above, the pressure sensor 29 is connected to the operating device 26 via the hydraulic line 28, and the pilot pressure on the secondary side of the operating device 26, that is, the pilot pressure corresponding to the operating state of each operating element in the operating device 26. Is detected. The pressure sensor 29 is connected to the excavator controller 30A, and a pressure signal (pressure detection value) corresponding to the operation state of the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6 and the like in the operation device 26 is received. Input to the shovel controller 30A.

  The shovel control system according to the present embodiment includes a shovel controller 30A, an HB controller 30B, and the like.

  The shovel controller 30A (an example of a second controller) performs drive control of the shovel in cooperation with various controllers (control devices) including the HB controller 30B. For example, the shovel controller 30A may control the operation of the entire shovel (various devices mounted on the shovel) based on bidirectional communication with various controllers centering on the HB controller 30B (overall control). Further, for example, the excavator controller 30A integrally acquires information related to overall control (detection values of various sensors, control signals of various controllers, etc.) based on bidirectional communication with various controllers centering on the HB controller 30B. May be. Further, for example, the excavator controller 30 </ b> A is based on the information acquired in an integrated manner, the remaining amount of fuel in the fuel tank (not shown) of the engine 11, and the processing used for the selective reduction type exhaust gas processing device (not shown) The remaining amount of urea water in the storage tank of the agent (urea water), the water temperature and oil temperature of the engine 11, the attitude of the working device (position, angle of the boom 4, arm 5, and bucket 6 with respect to the upper swing body 3) and the like are calculated. It may have a function. Further, for example, the excavator controller 30A may have a function of determining the excavator traveling state, turning state, excavation state, and the like based on the above-described various calculation results. Further, for example, the excavator controller 30A has information on occurrence of a failure or abnormality (a signal indicating the occurrence of an abnormality or a detection value for determining the presence or absence of abnormality from various controllers centering on the HB controller 30B or directly connected devices). , Control signals, etc.) may be integrated to have a function of performing abnormality processing determination. Further, for example, the excavator controller 30 </ b> A can operate the work device (the boom 4, the arm 5, the bucket 6) or the upper swing on the basis of information (detected value of the pressure sensor 29) regarding the operation state (operation amount, operation direction) with respect to the operation device 26. A drive command for driving the body 3 may be generated.

  Specifically, the excavator controller 30A may transmit the above-described variously acquired information, various calculation results, various determination results, drive commands, and the like to the HB controller 30B. More specifically, the excavator controller 30A transmits a drive command including a detection value input from the pressure sensor 29 to the HB controller 30B, so that the motor generator 12 corresponding to the operation state of the operator with respect to the operation device 26 and The operation of the turning electric motor 21 may be realized. Further, the excavator controller 30A receives various information on the electric drive system from the HB controller 30B (for example, the current detection value, voltage detection value, abnormality information of the motor generator 12, the inverters 18A and 18B, the capacitor 19, and the turning motor 21) ) May be received.

  The HB controller 30B (an example of the first controller) is based on various information transmitted from the excavator controller 30A (for example, a drive command including a detection value of the pressure sensor 29 corresponding to an operation state with respect to the operation device 26). Drive control of the drive system is performed. For example, the HB controller 30 </ b> B drives the inverter 18 </ b> A based on the detection value detected by the pressure sensor 29 and corresponding to the operation state of the operation device 26, and the operation state (power running operation and power generation operation) of the motor generator 12. Perform switching control. Further, for example, the HB controller 30B drives the inverter 18B based on the detection value corresponding to the operation state of the operation device 26 detected by the pressure sensor 29, and the operation state (power running operation and regenerative operation) of the turning electric motor 21. ) Switching control. At this time, the HB controller 30B performs speed control and torque control of the turning electric motor 21 based on, for example, detection values of the current sensor 21s and the resolver 22. Further, for example, the HB controller 30B drives the buck-boost converter 100 based on a detection value detected by the pressure sensor 29 and corresponding to the operation state of the operation device 26, and switches between the charged state and the discharged state of the capacitor 19. Take control. Further, the HB controller 30B may transmit various types of information on the electric drive system to the shovel controller 30A that controls the overall shovel control.

  For example, the shovel controller 30A and the HB controller 30B have the same hardware, that is, the same shape and the same physique, and each function may be realized by a difference in internal software processing. As a result, the parts can be shared and the cost can be reduced.

  In addition, the control system of the excavator controls an engine controller 30C that controls the engine 11 (fuel injection amount, etc.), an exhaust gas controller 30D that controls the exhaust gas processing device, and a turbine (supercharging pressure) of the engine 11. A turbine controller 30E (see FIG. 3 for both) is included. Hereinafter, the excavator controller 30A, the HB controller 30B, the engine controller 30C, the exhaust gas controller 30D, and the turbine controller 30E may be collectively referred to as various controllers 30A to 30E.

  The various controllers 30A to 30E are constituted by, for example, a microcomputer including a CPU, ROM, RAM, I / O, and the like, and various functions are realized by executing various programs stored in the ROM on the CPU. . Further, the various controllers are connected so as to be able to communicate with each other via a communication network based on, for example, a CAN (Controller Area Network) standard. That is, each of the controllers 30A to 30E includes a CPU that performs processing such as generation (calculation) of various control commands and a communication unit (for example, a CAN transceiver, a CAN controller, etc.) that outputs the generated various control commands. May be.

  Next, the arrangement structure of the HB controller 30B will be described with reference to FIGS.

  3 to 5 are diagrams showing an arrangement structure of the HB controller 30B. Specifically, FIGS. 3 to 5 are a side view, a front view, and a plan view showing an example of the internal configuration of the cabin 10 including the arrangement structure of the HB controller 30B, respectively.

  As shown in FIGS. 3 to 5, a cockpit 40, an air conditioner unit 42, an excavator controller 30 </ b> A, an HB controller 30 </ b> B, an engine controller 30 </ b> C, an exhaust gas controller 30 </ b> D, a turbine controller 30 </ b> E, and the like are mounted inside the cabin 10. .

  An operator is seated on the cockpit seat 40 in order to operate the operation devices 26 (lever 26A, 26B and pedal 26C) disposed in the vicinity.

  As shown in FIG. 3, the cockpit seat 40 occupies most of the interior space of the cabin 10 in the front-rear direction. Therefore, the air conditioner unit 42, the various controllers 30A to 30E, and the like are disposed in a space in the front-rear direction between the cockpit 40 and the rear panel 10RP that is a rear partition of the cabin 10.

  Further, as shown in FIG. 3, a luggage space 50 in which an operator's carry items (baggage) and the like are placed is provided in the upper rear portion of the cockpit 40 inside the cabin 10. Therefore, the air conditioner unit 42 and the various controllers 30 </ b> A to 30 </ b> E are disposed in a vertical space between the luggage space 50 and the floor panel 10 </ b> FL of the cabin 10.

  Further, as shown in FIG. 3, various parts arranged in the front and rear space between the cockpit 40 and the rear panel 10RP, including the air conditioner unit 42, various controllers 30A to 30E, and the like are rear cover 48 (upper cover 48A). The lower cover 48B) covers the front and upper sides.

  The air conditioner unit 42 is an air conditioner that adjusts the temperature and the like inside the cabin 10 according to a setting operation by an operator. The air conditioner unit 42 is disposed on a floor panel 10FL between the cockpit 40 and the rear panel 10RP as shown in FIGS. The air conditioner unit 42 has a relatively large casing, and occupies most of the floor panel 10FL between the cockpit 40 and the rear panel 10RP, as shown in FIGS. In the air conditioner unit 42, air conditioning ducts 42DL and 42DR are connected to the left end portion and the right end portion of the upper surface, respectively, as shown in FIG.

  Each of the air conditioning ducts 42DL and 42DR extends upward from the left end portion and the right end portion of the upper surface of the air conditioner unit 42, and is connected to an outlet provided at the left and right ends of the upper cover 48A. Thereby, the air whose temperature is adjusted by the air conditioner unit 42 is sent into the cabin 10 from the air outlet, and a comfortable temperature environment for the operator can be realized.

  As shown in FIG. 4, the various controllers 30 </ b> A to 30 </ b> E are arranged above the air conditioner unit 42 and between the air conditioning ducts 40 </ b> DL and 40 </ b> DR provided at the left end and the right end in the left-right direction. Each of the various controllers 30A to 30E is attached to the plate-like member 32 via a bracket or the like. Further, structural members 10A and 10B are provided on the inside of the cabin 10 of the right panel 10SR that is the right partition of the cabin 10 and the left panel 10SL that is the left partition, respectively, and the plate member 32 is a structural member. It is attached to the upper surfaces of 10A and 10B with bolts or the like. As shown in FIG. 3, a vertical surface along the rear panel 10RP is provided at the rear part of the plate-like member 32, and is attached to the rear panel 10RP from the front by a bolt or the like. Thereby, the various controllers 30 </ b> A to 30 </ b> E are fixed to the cabin 10 via the plate-like member 32.

  As shown in FIG. 4, the various controllers 30 </ b> A to 30 </ b> E are arranged in two rows on the left and right, and are arranged in a plurality of layers on the top and bottom. Specifically, the HB controller 30B, the excavator controller 30A, and the engine controller 30C are arranged in three stages on the right side, and the exhaust gas controller 30D and the turbine controller 30E are arranged on the left side in two stages. . Among the various controllers 30A to 30E, the engine controller 30C, the excavator controller 30A, the exhaust gas controller 30D, and the turbine controller 30E on the right side from the top on the right side are structural members 10A and 10B to which the plate-like member 32 is attached from above. It arrange | positions above the upper surface of. On the other hand, the lowermost HB controller 30B on the right side is provided below the upper surfaces of the structural members 10A and 10B. That is, the plate-like member 32 has a concave portion that is recessed below the upper surfaces of the structural members 10A and 10B that are the attachment surfaces, and the HB controller 30B is attached to the plate-like member 32 in such a manner that it is accommodated in the concave portion. It is done. The concave portion is provided at a position approximately to the right of the center in the front-rear direction and the center in the left-right direction of the plate-like member 32 attached inside the cabin 10 according to the arrangement and shape of the HB controller 30B. In a hydraulic excavator that does not have an electric drive system (that is, an excavator in which the motor generator 12 is omitted and the upper revolving unit 3 is driven to rotate by a hydraulic motor instead of the turning electric motor 21), the HB controller 30B is provided. I can't. Therefore, by arranging the HB controller 30B using the space below the upper surfaces of the structural members 10A and 10B, which are the mounting surfaces of the plate-like member 32, the configuration of the hydraulic excavator is realized simply by removing the HB controller 30B. can do. That is, the arrangement of the excavator controller 30A, the engine controller 30C, the exhaust gas controller 30D, and the turbine controller 30E is shared between the hybrid excavator and the hydraulic excavator of the present embodiment, and the plate member 32 is shared. You can also plan.

  Further, an excavator controller 30A is provided on the HB controller 30B. As described above, the HB controller 30B controls the electric drive system based on various information transmitted from the excavator controller 30A, and transmits the information to integrate the information related to the electric drive system into the excavator controller 30A. Therefore, by arranging the excavator controller 30A adjacent to the HB controller 30B, it is possible to suppress the influence of noise and the like during bidirectional communication between the excavator controller 30A and the HB controller 30B. Integration of information regarding control and electric drive system can be performed more appropriately. Further, as shown in FIG. 4, the excavator controller 30A is surrounded by all of the lower HB controller 30B, the upper engine controller 30C, the left exhaust gas controller 30D, and the left oblique upper turbine controller 30E. It is arranged with. That is, among the various controllers 30A to 30E, the excavator controller 30A is disposed so as to be relatively close to other controllers. Therefore, the excavator controller 30A can suppress the influence of noise or the like during bidirectional communication with another controller, and can more appropriately perform overall control of the excavator, integration of various types of information, and the like.

  It should be noted that the arrangement relationship between the left and right columns of the various controllers 30A to 30E may be reversed. That is, the HB controller 30B, the excavator controller 30A, and the engine controller 30C from the bottom may be arranged in three stages on the left side, and the exhaust gas controller 30D and the turbine controller 30E from the bottom may be arranged in two stages on the right side. In this case, the position where the concave portion of the plate-like member 32 is formed is changed according to the position where the HB controller 30B is arranged. Specifically, the concave portion is positioned at the approximate center in the front-rear direction of the plate-like member 32 attached to the interior of the cabin 10 and in the left side of the center in the left-right direction according to the arrangement and shape of the HB controller 30B. Provided. That is, the concave portion in which the HB controller 30B is accommodated can be formed at an arbitrary position in the plate-like member 32 as long as it is a portion other than the attachment portion of the plate-like member 32 to the structural members 10A, 10B of the cabin 10. For example, the recess may be provided before or after the center in the front-rear direction of the plate-like member 32 attached to the interior of the cabin 10 in accordance with the arrangement and outer shape of the HB controller 30B. Moreover, positions other than the HB controller 30B of the various controllers 30A to 30E, that is, the excavator controller 30A, the engine controller 30C, the exhaust gas controller 30D, and the turbine controller 30E may be interchanged. Also in this case, as described above, a mode in which the excavator controller 30A is arranged on the HB controller 30B is preferable.

  Also, as shown in FIGS. 4 and 5, there is no wiring between the excavator controller 30A, HB controller 30B, and engine controller 30C arranged on the left side, and the exhaust gas controller 30D and turbine controller 30E arranged on the right side. 44, 46 are provided. The wirings 44 and 46 are provided for power reception or communication of the various controllers 30A to 30E and are arranged in the front-rear direction. The various controllers 30A to 30E are respectively provided with connectors 31A to 31E for connecting wires (branch wires from the wires 44 and 46) for receiving power from the outside or communicating with the outside, and wires 44 and 46 in the left-right direction. Provide on one side of the side. That is, the excavator controller 30A, the HB controller 30B, and the engine controller 30C arranged on the right side include connectors 31A to 31C on the left side surface, and are connected to branch wirings from the wirings 44 and 46, respectively. Further, the exhaust gas controller 30D and the turbine controller 30E arranged on the left side include connectors 31D and 31E on the right side surface, respectively, and are connected to branch wirings from the wirings 44 and 46. As a result, the wiring for receiving power from the outside of the various controllers 30A to 30E or the communication with the outside can be integrated into the wirings 44 and 46 arranged between the various controllers 30A to 30E.

  The various controllers 30 </ b> A to 30 </ b> E are supplied with power from another power source (for example, a relatively low voltage battery) different from the relatively high voltage capacitor 19.

  As described above, by arranging the HB controller 30B in the cabin 10, for example, the HB controller is integrated with the components of the inverters 18A and 18B and the power storage system 120 and mounted on the upper swing body 3. There is no need to take special waterproofing measures for 30B. Therefore, it is possible to increase the cost of the HB controller 30B and suppress the occupied space. Further, as described above, since the cabin 10 is mounted on the upper swing body 3 via the vibration control structure, it is not necessary to take special vibration resistance measures for the HB controller 30B. Therefore, as the HB controller 30B, for example, the same hardware as that of the excavator controller 30A that is disposed inside the cabin 10 and that is not subjected to special waterproof measures and vibration proof measures can be used. Further, by housing the HB controller 30B in a recess below the upper surfaces of the structural members 10A and 10B, which are the mounting surfaces of the plate-like member 32, the configuration of the hydraulic excavator can be realized simply by removing the HB controller 30B. it can. Further, by arranging the various controllers 30A to 30E in a plurality of stages and providing the connectors 31A to 31E on one side surface on the same side in the left-right direction, the wiring 44 for power reception or communication of the various controllers 30A to 30E, 46 can be aggregated to facilitate handling.

  As mentioned above, although the form for implementing this invention was explained in full detail, this invention is not limited to this specific embodiment, In the range of the summary of this invention described in the claim, various Can be modified or changed.

1A, 1B Traveling hydraulic motor (hydraulic actuator)
7 Boom cylinder (hydraulic actuator)
8 Arm cylinder (hydraulic actuator)
9 Bucket cylinder (hydraulic actuator)
DESCRIPTION OF SYMBOLS 10 Cabin 10A, 10B Structural member 11 Engine 12 Motor generator (electric motor)
14 Main pump (hydraulic pump)
18A, 18B Inverter (Driver)
21 Electric motor for turning (motor)
30A excavator controller (second controller)
30B Hybrid controller (first controller)
31A connector (first wiring connection)
31B connector (second wiring connection part)
32 Plate-like member 100 Buck-boost converter (drive device)

Claims (5)

A swivel,
A cabin on which the operator is boarded;
A hydraulic pump for supplying hydraulic oil to the hydraulic actuator;
An electric motor that drives the swivel body or the hydraulic pump;
A driving device for driving the electric motor;
A first controller for controlling the drive device,
The first controller is provided in the cabin.
Excavator. The cabin is mounted on the swivel body via a vibration isolation structure.
The excavator according to claim 1. A plate-like member attached from above to the structural member inside the cabin;
The plate-like member has a recess recessed downward from the upper surface of the structural member,
The first controller is attached to the plate-like member in a mode of being accommodated in the recess.
The shovel according to claim 1 or 2. In cooperation with the first controller, further comprising a second controller for controlling the excavator drive according to the operation of the operator,
The first controller and the second controller are arranged one above the other in the cabin,
The excavator according to any one of claims 1 to 3. The first controller includes a first wiring connection unit for connecting a wiring for receiving power from outside or communicating with the outside,
The second controller includes a second wiring connection unit for connecting a wiring for receiving power from the outside or communicating with the outside,
The first wiring connection portion and the second wiring connection portion are provided on the same side surface of either the left or right of the first controller and the second controller, respectively.
The excavator according to claim 4.

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