JP6672128B2 - 作業機 - Google Patents
作業機 Download PDFInfo
- Publication number
- JP6672128B2 JP6672128B2 JP2016229547A JP2016229547A JP6672128B2 JP 6672128 B2 JP6672128 B2 JP 6672128B2 JP 2016229547 A JP2016229547 A JP 2016229547A JP 2016229547 A JP2016229547 A JP 2016229547A JP 6672128 B2 JP6672128 B2 JP 6672128B2
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- Prior art keywords
- deceleration
- motor
- work
- rotation speed
- determination value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
- A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
- A01D34/6806—Driving mechanisms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
- A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
- A01D34/69—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels with motor driven wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/76—Driving mechanisms for the cutters
- A01D34/78—Driving mechanisms for the cutters electric
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/81—Casings; Housings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/20—AC to AC converters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Harvester Elements (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Multiple Motors (AREA)
Description
図1及び図2に示すように、本実施形態に係る電動芝刈機1は、本体2と、本体2の下部に設けられた作業部3と、本体2に回転可能に支持された左右一対の前輪4及び後輪5と、本体2から後上方に延びるハンドル6とを有する。作業部3は、本体2の下部中央には下方に向けて開口した凹部7と、凹部7に回転可能に配置された芝刈り用の刈刃でブレード3Aとを有する。本体2にはブレード3Aが回転軸に結合された作業モータ8、及び左右の後輪5を駆動するための左右の走行モータ9L、9Rが支持されている。作業モータ8及び走行モータ9L、9Rは共に電気モータであり、本体2には各モータ8、9L、9Rを制御する制御装置10が設けられている。
制御装置10は、マイクロコンピュータやROM、RAM、周辺回路、入出力インタフェース、ドライバ等から構成された電子制御回路(ECU)である。図3に示すように、制御装置10は、バッテリ20と接続され、バッテリ20から電力の供給を受ける。制御装置10は、作業モータ8及び左右の走行モータ9L、9Rのそれぞれに対応したモータドライバ31、32、33を有している。制御装置10は、各モータドライバ31〜33を介してバッテリ20からの電力を各モータ8、9L、9Rに供給し、各モータ8、9L、9Rを制御する。制御装置10は、例えばPWM制御に基づいて各モータドライバ31、32、33を制御して各モータ8、9L、9Rに供給する電圧を変化させ、各モータ8、9L、9Rの回転速度を変更する。
2 :本体
3 :作業部
3A :ブレード
4 :前輪
5 :後輪
8 :作業モータ
9L :左走行モータ
9R :右走行モータ
10 :制御装置
14 :操作入力装置
15 :走行レバー
16 :作業レバー
20 :バッテリ
31 :作業モータドライバ
32 :左走行モータモータドライバ
33 :右走行モータモータドライバ
34 :作業モータ回転角センサ
35 :左走行モータ回転角センサ
36 :右走行モータ回転角センサ
41 :負荷検出部
42 :走行速度入力部
Claims (3)
- 作業機であって、
作業部を駆動する作業モータと、
車輪を駆動する走行モータと、
前記作業モータ及び前記走行モータを駆動制御する制御装置と
前記作業モータに加わる負荷を検出する負荷検出手段とを有し、
前記制御装置は、
前記作業モータの回転速度を一定に制御すると共に、
前記負荷が減速判定値以上になった場合に前記走行モータの回転速度を所定の減速度で減速させる減速制御を行い、前記減速制御中に前記負荷が前記減速判定値以下の値に設定された復帰判定値以下になった場合に前記走行モータを所定の加速度で加速させ、前記走行モータの回転速度を、前記減速制御を開始する前の回転速度に戻す復帰制御を行い、
前記減速制御中に前記負荷が前記減速判定値より大きい値に設定された停止判定値以上になった場合に前記走行モータを停止させる停止制御を行い、前記停止制御中に前記負荷が前記復帰判定値以下になった場合に前記走行モータを所定の加速度で加速させ、前記走行モータの回転速度を、前記減速制御を開始する前の回転速度に戻す前記復帰制御を行い、
前記停止制御中に前記負荷が前記復帰判定値より大きくかつ前記停止判定値より小さい所定の第2復帰判定値以下になった場合に前記走行モータの回転速度を、前記減速制御を開始する前の回転速度より低い所定の低回転速度にする低回転駆動制御を行うことを特徴とする作業機。 - 前記減速判定値は、複数段の値を有し、
前記制御装置は、前記減速判定値の内で値が大きいものほど、前記負荷がその値以上になったときに行う前記減速制御における前記減速度を大きくすることを特徴とする請求項1に記載の作業機。 - 前記作業部は、前記作業モータによって回転させられる芝刈用のブレードを有することを特徴とする請求項1又は請求項2に記載の作業機。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016229547A JP6672128B2 (ja) | 2016-11-25 | 2016-11-25 | 作業機 |
US15/815,994 US10709061B2 (en) | 2016-11-25 | 2017-11-17 | Electric power equipment |
EP17203143.7A EP3326443B1 (en) | 2016-11-25 | 2017-11-22 | Electric power equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016229547A JP6672128B2 (ja) | 2016-11-25 | 2016-11-25 | 作業機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018085907A JP2018085907A (ja) | 2018-05-31 |
JP6672128B2 true JP6672128B2 (ja) | 2020-03-25 |
Family
ID=60450520
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016229547A Active JP6672128B2 (ja) | 2016-11-25 | 2016-11-25 | 作業機 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10709061B2 (ja) |
EP (1) | EP3326443B1 (ja) |
JP (1) | JP6672128B2 (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111356357B (zh) * | 2017-11-17 | 2022-08-09 | 本田技研工业株式会社 | 作业机 |
JP7038536B2 (ja) * | 2017-12-12 | 2022-03-18 | 株式会社クボタ | 作業車両 |
WO2019171589A1 (ja) * | 2018-03-09 | 2019-09-12 | 本田技研工業株式会社 | 作業機 |
EP3586594B1 (en) | 2018-06-29 | 2022-10-19 | Techtronic Outdoor Products Technology Limited | Walk-behind electric gardening device |
AU2018437976B2 (en) * | 2018-08-24 | 2023-02-09 | Honda Motor Co., Ltd. | Work machine |
CN210610342U (zh) | 2018-09-27 | 2020-05-26 | 南京德朔实业有限公司 | 割草机 |
CA3114468C (en) | 2018-09-27 | 2022-04-12 | Nanjing Chervon Industry Co., Ltd. | Lawn mower |
DE102019213294A1 (de) * | 2019-02-28 | 2020-09-03 | Robert Bosch Gmbh | Angetriebene Bodenpflegevorrichtung |
USD995569S1 (en) | 2019-04-18 | 2023-08-15 | Nanjing Chervon Industry Co., Ltd. | Mower blade assembly |
CN113273078A (zh) * | 2019-06-21 | 2021-08-17 | 南京德朔实业有限公司 | 骑乘式割草机 |
JP7022409B2 (ja) * | 2019-06-21 | 2022-02-18 | 株式会社ササキコーポレーション | 自走式作業機の制御方法及び制御装置 |
JP7250289B2 (ja) * | 2020-11-11 | 2023-04-03 | 株式会社ユニック | 草刈り機 |
US20230166603A1 (en) | 2021-11-30 | 2023-06-01 | Honda Motor Co., Ltd. | Electric power equipment |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3280047B2 (ja) * | 1991-07-03 | 2002-04-30 | 株式会社クボタ | コンバイン |
JPH09201126A (ja) | 1995-11-24 | 1997-08-05 | Honda Motor Co Ltd | 電動芝刈機 |
JP3798846B2 (ja) * | 1996-04-30 | 2006-07-19 | ヤンマー農機株式会社 | コンバインの車速制御装置 |
JP4279275B2 (ja) * | 2005-07-29 | 2009-06-17 | 本田技研工業株式会社 | 作業機 |
US7594377B1 (en) | 2006-10-27 | 2009-09-29 | Sauer-Danfoss Inc. | Means of adjusting ground speed of a vehicle based on load on blade assembly |
US20090266042A1 (en) | 2008-04-25 | 2009-10-29 | Mooney P Wade | Mower |
JP2009296933A (ja) | 2008-06-12 | 2009-12-24 | Honda Motor Co Ltd | 耕耘機 |
JP5576152B2 (ja) * | 2010-03-12 | 2014-08-20 | ヤンマー株式会社 | 作業車 |
JP5715855B2 (ja) * | 2011-03-09 | 2015-05-13 | 株式会社クボタ | 乗用作業車 |
AU2011372794B2 (en) * | 2011-07-14 | 2016-05-12 | Husqvarna Ab | Battery powered lawn care vehicle with drive efficiency indicator |
US10130037B2 (en) * | 2014-12-31 | 2018-11-20 | Mean Green Products, LLC | Electric mower apparatus and method of use |
JP6023239B2 (ja) | 2015-02-25 | 2016-11-09 | 本田技研工業株式会社 | 除雪機 |
-
2016
- 2016-11-25 JP JP2016229547A patent/JP6672128B2/ja active Active
-
2017
- 2017-11-17 US US15/815,994 patent/US10709061B2/en active Active
- 2017-11-22 EP EP17203143.7A patent/EP3326443B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
US10709061B2 (en) | 2020-07-14 |
EP3326443A1 (en) | 2018-05-30 |
EP3326443B1 (en) | 2020-05-20 |
JP2018085907A (ja) | 2018-05-31 |
US20180146616A1 (en) | 2018-05-31 |
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