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CN-122013843-A - Driving system of electric engineering machinery

CN122013843ACN 122013843 ACN122013843 ACN 122013843ACN-122013843-A

Abstract

The invention relates to the technical field of electric driving equipment, in particular to an electric engineering machinery driving system, which comprises a control part and an execution part connected with the control part, wherein the control part comprises a main control system, a motor driver, a battery, a power management system and a thermal management system, the execution part comprises a rotary actuator and a linear actuator, the main control system is respectively connected with the motor driver, the battery, the power management system and the thermal management system, the motor driver is respectively connected with the battery, the power management system, the rotary actuator and the linear actuator, the circulation system is also arranged, the circulation system is in control connection with the thermal management system, the circulation system is a liquid cold-hot closed circulation loop which is provided with a temperature control monitoring function and has heat exchange, and the linear actuator is provided with a heat conducting cavity and is connected with the circulation loop of the circulation system.

Inventors

  • SHI LI

Assignees

  • 山西氢电科技有限公司

Dates

Publication Date
20260512
Application Date
20260319

Claims (17)

  1. 1. The electric engineering machinery driving system comprises a control part and an execution part connected with the control part, and is characterized in that the control part comprises a main control system (9), a motor driver (10), a battery and power management system (2) and a heat management system (12), the execution part comprises a rotary actuator (6) and a linear actuator (5), the main control system (9) is respectively connected with the motor driver (10), the battery and power management system (2), the rotary actuator (6) and the linear actuator (5), the motor driver (10) is respectively connected with the battery and power management system (2), the rotary actuator (6) and the linear actuator (5), a circulation system controlled and connected by the heat management system (12) is also arranged, the circulation system is a liquid cold-hot closed circulation loop with a temperature control monitoring function and heat exchange function, the linear actuator (5) is provided with a heat conducting capacity cavity and is connected with the circulation loop of the circulation system, the linear actuator (5) is a plurality of self-contained linear electro-hydraulic actuators (31), the self-contained linear electro-hydraulic actuators (31) comprise piston rods, a piston built-in power source (1) capable of rotating spline shafts (2) and a piston, a rotatable spline shaft (8) are respectively connected with the battery and the power source (2), the piston rods and the piston rods are separated from the piston rod (3100) through the piston rod (3100) and the piston rod 3100, the spline shaft (3102) penetrates through the power source (3101) and is movably connected with the small piston, the servo motor (3108) drives the spline shaft (3102) to rotate positively and negatively so that the power source (3101) outputs pressure to the rod cavity (3103) and the rodless cavity (3104), the sectional areas of the rod cavity (3103) and the rodless cavity (3104) are equal, the cylinder body is provided with an inlet and an outlet which are connected with a circulating system, the front cooling cavity (3110) and the rear cooling cavity (3105) are heat conducting containing cavities and form a part of a cooling loop, and the front cooling cavity (3110) and the rear cooling cavity (3105) can generate volume changes along with expansion and contraction of a piston rod so as to provide auxiliary driving force for circulating liquid.
  2. 2. The electric engineering machinery driving system according to claim 1 is characterized in that the self-contained linear electro-hydraulic actuator (31) is structurally characterized in that an earring is arranged in front of and behind the self-contained linear electro-hydraulic actuator (31), a built-in power source (3101) of a piston is in a gear type or plunger type, a spline shaft (3102) is fixedly arranged at the bottom of the cylinder, the spline shaft (3102) penetrates through the power source (3101) to be movably connected with a small piston and is in driving connection with the power source (3101), a pore channel (3107) is arranged in the spline shaft (3102), a tooth clearance channel (3106) is reserved between the spline shaft (3102) and a spline hole in a driving shaft of the power source (3101), an oil duct (3109) is arranged on the rod body of a piston, a servo motor (3108) is arranged on one side of the bottom of the cylinder, a transmission mechanism is arranged at the tail end of the spline shaft (3102) and is in driving connection with the driving shaft of the servo motor (3108), cooling liquid or lubricating liquid of the circulation system sequentially enters the pore channel (3107), a front cooling cavity (3110), a tooth clearance channel (6) and a rear cooling cavity (5) and a rear cooling cavity (3105) to form a complete cooling loop.
  3. 3. The electric engineering machinery driving system according to claim 2, wherein the circulating system comprises a main circulating system and a refrigerating circulating system, the main circulating system is connected with a cooling loop of the self-contained linear electro-hydraulic actuator (31), the main circulating system comprises a main circulating pressure sensor (18), a main circulating temperature sensor (17) and a first heat exchanger (20), and the refrigerating circulating system is connected with the first heat exchanger (20).
  4. 4. An electric work machine driving system according to claim 3, characterized in that the main circulation system is further provided with a second heat exchanger (21) in the circulation loop, the circulation system further comprising a cooling circulation system, the cooling circulation system being connected to the second heat exchanger (21).
  5. 5. The electric machine driving system according to claim 4, wherein the main circulation system is provided with a heater (36), and the thermal management system (12) is connected with the battery and power management system (2) and the heater (36).
  6. 6. The electric engineering machine driving system according to any one of claims 2 to 5, further comprising a closed box body (1), wherein the closed box body (1) is arranged on a chassis or on a machine body/in the machine body of the electric engineering machine, the control part is arranged in the closed box body (1), the circulating system is arranged in the closed box body (1), the closed box body (1) is provided with a watertight compartment door (4), the electric engineering machine driving system further comprises an external operation platform (8), a cloud background and a monitoring system (7), and the main control system (9) is connected with the external operation platform (8), the cloud background and the monitoring system (7).
  7. 7. The electric engineering machinery driving system according to claim 3, wherein the main circulation system further comprises a circulation pump set (13), a one-way valve (14), a volume compensator (15) and a filter which are arranged on a loop connecting the inlet and the outlet, the outlet and the inlet of the circulation pump set (13) are respectively provided with the one-way valve (14) and are connected with the volume compensator (15), the inlet and the outlet are respectively provided with a main circulation pressure sensor (18) and a main circulation temperature sensor (17), and the thermal management system (12) is respectively connected with the main circulation pressure sensor (18), the main circulation temperature sensor (17), the circulation pump set (13), the battery and the power management system (2).
  8. 8. The electric engineering machine driving system according to any one of claims 1-5 and 7, characterized in that a communication valve (37) is arranged between the inlet and the outlet of the self-contained linear electro-hydraulic actuator (31) connected with the main circulation system.
  9. 9. The electric engineering machinery driving system according to claim 3 or 7, wherein the heat exchanger is a first heat exchanger (20), the refrigerating cycle system comprises a first compressor (25), a first expansion valve (26), a second expansion valve (27), a refrigerating circuit pressure sensor (28), a refrigerating circuit temperature sensor (29) and an air condenser (30) which are arranged on a loop connecting an inlet and an outlet of the first heat exchanger (20), the refrigerating circuit pressure sensor (28) and the refrigerating circuit temperature sensor (29) are respectively arranged on the inlet and the outlet, the closed box body (1) is provided with a watertight cabin door (4), the watertight cabin door (4) corresponds to the air condenser (30), the heat management system (12) is respectively connected with the compressor (25), the refrigerating circuit pressure sensor (28), the refrigerating circuit temperature sensor (29) and the air condenser (30), and the compressor (25) is connected with the battery and the power management system (2).
  10. 10. The electric engineering machinery driving system according to claim 3 or 7, further comprising a closed box body (1), wherein the heat exchanger is a second heat exchanger (21), the cooling circulation system comprises a second cooling pump set (23) arranged on a loop connecting an inlet and an outlet of the second heat exchanger (21), a switch valve (24), the radiating fins (11) and the heat management system (12) are respectively connected with the second cooling pump set (23), the switch valve (24), the radiating fins (11) are attached to the wall body of the closed box body (1), and the second cooling pump set (23) is connected with the battery and the power management system (2).
  11. 11. The electric engineering machine driving system according to claim 2, wherein the self-contained linear electro-hydraulic actuator (31) is provided with a displacement sensor and a pressure sensor and feeds back pressure and displacement signals to the main control system (9).
  12. 12. The electric engineering machine driving system according to claim 2, wherein the linear actuator (5) can further comprise an electric cylinder and/or a common hydraulic cylinder as auxiliary linear actuators, and the rotary actuator (6) comprises a motor (32) and a servo motor, and the motor (32) and the servo motor are provided with a driving connection reducer.
  13. 13. The electric engineering machinery driving system according to claim 6, wherein the monitoring system (7) is arranged outside the closed box body (1), the monitoring system (7) comprises at least one lifting camera system, the lifting camera system comprises a lifting rod (34) and a camera (35) arranged on the top of the lifting rod (34), the lifting rod (34) is of a telescopic structure, the lifting rod (34) can be an electric cylinder or a self-contained linear electrohydraulic actuator (31), the two unmanned aerial vehicle systems (33) comprise an openable closed waterproof containing shell and an unmanned aerial vehicle arranged in the containing shell, the unmanned aerial vehicle is in the waterproof containing state when the containing shell is closed, and can take off to execute a monitoring task when the containing shell is opened, and the monitoring system (7) transmits visual monitoring data to the main control system (9) in a wireless transmission mode.
  14. 14. The electric construction machine driving system according to any one of claims 1 to 5, 7, and 11 to 13, wherein the electric construction machine driving system is applicable to one of an excavator, a forklift, and a loader.
  15. 15. The electric construction machine driving system according to claim 6, 8, 9 or 10, wherein the electric construction machine driving system is applicable to one of an excavator, a forklift, and a loader.
  16. 16. The electric construction machine driving system according to any one of claims 1 to 5, 7, and 11 to 13, wherein the electric construction machine driving system is applicable to one of a humanoid robot, a multi-legged robot, and a wheeled robot.
  17. 17. The electric construction machine driving system according to claim 6, 8, 9 or 10, wherein the electric construction machine driving system is applicable to one of a humanoid robot, a multi-legged robot, and a wheeled robot.

Description

Driving system of electric engineering machinery Technical Field The invention belongs to the technical field of electric driving equipment, and particularly relates to an electric engineering machinery driving system. Background The traditional fuel engineering machinery has a lengthy energy conversion path from chemical energy of diesel combustion to mechanical energy to hydraulic energy, and the comprehensive efficiency is only about 10%. The electric hydraulic pressure thoroughly changes the pattern through a direct driving structure of a battery, a motor and a hydraulic pump, and in the electric 1.0 stage, the integrated efficiency of the system is improved to 22% by only replacing a diesel engine with a storage battery, a motor and a main pump and reserving a centralized hydraulic structure, so that the use cost is reduced by more than 45%. The technology at this stage is widely applied to main stream equipment such as loaders, excavators and the like, and becomes a pioneer for popularization in the market, but the evolution of the technology is never stopped, and the electric hydraulic pressure is continuously broken through along a three-stage path of 'power substitution-partial electric-comprehensive distribution'. The system enters a 2.0 stage, the walking and revolving system is electrically driven at first, a motor reducer replaces a hydraulic motor, the integration level of a multi-way valve is reduced, a semi-distributed layout is formed, the whole electric driving of the 3.0 stage is realized, an electro-hydrostatic actuator (EHA) and an electric cylinder (EMA) are used as driving modes, and the application of robots such as Boston hydraulic machine dogs and the like is derived, the micro motor is integrated with a high-speed pump, and the actuating mechanism is driven point to point, but the throttling loss of a central oil way is eliminated, the hydraulic cylinder is essentially carried on the structure of the electric driving small hydraulic system, the structure is heavy, heat dissipation and leakage cannot be overcome, and the problems of severe general environments, dust, debris, deep water, temperature difference and the like of engineering machinery and industrial robots exist, the working conditions are worse, namely high vibration, high frequency, high heat and high impact, a pipeline is complex, a control loop element faces high-pressure damage or leakage and the like, the engineering machinery type is different, the specification is different, the whole power and the actuating mechanism is difficult to match, the universality is poor, the popularization cannot be realized, various defects exist, the actuating mechanism and the electric driving scheme is not suitable for the hydraulic driving of the novel hydraulic machinery at the stage and the stage is required to be controlled based on the driving and has the high service life of the novel hydraulic machine, and the problem is fundamentally developed, and is the problem of the driving and is 0.4 is suitable for the driving and has the problem. Disclosure of Invention The invention discloses an electric engineering machinery driving system, which aims to solve the problems of energy-saving, intelligent driving and management and control of engineering machinery under the green electric revolution. The invention adopts the following technical scheme: the electric engineering machinery driving system is characterized in that the control part comprises a main control system, a motor driver, a battery, a power management system and a thermal management system, the execution part comprises a rotary actuator and a linear actuator, the main control system is respectively connected with the motor driver, the battery, the power management system and the thermal management system, the motor driver is respectively connected with the battery, the power management system, the rotary actuator and the linear actuator, the electric engineering machinery driving system is further provided with a circulating system which is controlled and connected by the thermal management system, the circulating system is a liquid cold and hot closed circulating loop which is provided with a temperature control monitoring function and has heat exchange, the linear actuator is provided with a heat conducting capacity cavity and is connected with the circulating loop of the circulating system, the linear actuator is a plurality of self-contained linear electrohydraulic actuators, the self-contained linear electrohydraulic actuators comprise a cylinder body, a piston rod integrated with a piston, a piston built-in power source, a rotatable spline shaft and a servo motor, the piston rod capacity cavity and a front cooling cavity are respectively arranged in the piston rod capacity cavity, the piston of the piston rod is separated by a piston, the spline shaft penetrates through the power source and is movably connected with the small piston, the piston capacity cavi