Electric drive off-road mobile working machine drive and control system

Abstract

The application discloses a kind of electric drive non-road mobile operation machinery drive and transmission control system, it is related to engineering machinery technical field, including: the first I motor driver and the second I motor driver are respectively connected with walking unit, electro-hydraulic control system is connected with rotary unit and linear actuator system, electro-hydraulic control system is coaxially connected with the both ends of the first I motor driver and the second I motor driver, the third I motor driver and rotary unit are connected in parallel in rotary body, controller is respectively connected with the first I motor driver, the second I motor driver, the third I motor driver, electro-hydraulic control system and linear actuator system.The application can not only efficiently drive non-road mobile operation machinery walking, realize recycling machine braking kinetic energy and operation mechanism gravitational potential energy drive and transmission control, but also can eliminate the throttling loss of operation mechanism, reduce the installed power and peak power of machine, realize the energy saving and carbon reduction of non-road mobile machinery.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular to a power distribution and control system for electrically driven off-road mobile working machinery. BACKGROUND

[0002] With the increasing depletion of fossil energy and the increasing greenhouse gas effect, environmental protection, energy saving and carbon reduction have become the focus of various industries. Energy consumption of off-road mobile working machinery has also become the most important evaluation index of machine competitiveness. Off-road mobile working machinery mainly includes wheel loaders, forklifts, wheel excavators, container cranes, heavy trucks, etc. The number of these machines is huge, and they generally use diesel engines as power sources and hydraulic systems to distribute power. The energy efficiency of the whole machine is very low, and the carbon emissions and energy consumption are much higher than that of passenger cars, ranking second only to cars in terms of fuel consumption and carbon emissions. Therefore, improving the drive and control system of off-road mobile machinery and improving the energy efficiency of the whole machine are of great significance to energy saving and carbon reduction.

[0003] Off-road mobile working machinery mainly uses engines to provide power, which is distributed to the walking system and working system through the hydraulic coupler and reducer. During operation, the hydraulic coupler is often at a non-efficient working point, causing high energy consumption. Frequent starting and braking of the whole machine results in a large loss of kinetic energy, and the energy efficiency of the walking system is low. The working mechanism of the machine generally uses hydraulic pumps for power supply, and the multi-way valve distributes power to each hydraulic cylinder. The throttle loss of the multi-way valve and the gravity potential energy loss during the high-frequency lifting process of the heavy external load of the working mechanism make the energy loss of the working mechanism very serious. The high energy consumption in walking and working processes also makes the energy efficiency of the whole machine very low.

[0004] The main way to reduce the energy consumption of the walking system at present is to replace the existing hydraulic coupler and reducer with high-efficiency stepless variable speed transmission to improve the energy efficiency of the transmission system. Another way is to replace the internal combustion engine with a hybrid or electric drive to improve the energy efficiency of the power source. The Chinese patent with publication number CN113306388A discloses a dual-motor electro-hydraulic hybrid drive system. The main motor drives the walking mechanism through a planetary reducer and then through a gearbox. Another motor drives a hydraulic pump to provide power for a hydraulic motor. The hydraulic motor drives the walking system through a reducer and the main drive in parallel after passing through a control valve. In operation, the main motor is responsible for normal walking drive, and the hydraulic motor provides additional torque for acceleration, starting, climbing and overcoming large external torque, which improves the walking drive capability and starting capability, and prevents slope sliding caused by drive failure. The patent uses electric motors to replace internal combustion engines, improves the overall energy efficiency and eliminates carbon emissions. Mechanical stepless variable speed replaces hydraulic coupler to improve the energy efficiency of the transmission system, but still lacks the recycling of walking brake kinetic energy and the use of centralized power supply.

[0005] For the working mechanism, the Chinese patent with publication number CN104831775A discloses a hydraulic system for excavators with engine start-stop function and active pressure regulation pressure common rail. In the centralized power source constant pressure energy supply hydraulic system, a continuous variable displacement hydraulic transformer is used to realize non-throttling volume control of the hydraulic cylinder. Such a system not only completely eliminates the throttling loss of the control valve, but also recycles the kinetic energy of the working mechanism. Although the scheme is theoretically feasible, it needs to integrate the hydraulic pump and hydraulic motor into one, and also needs continuous electronic control of displacement. Due to structural limitations, since the 1980s, there has been no practical hydraulic transformer available for use in the world. The research of this scheme is still at the laboratory stage.

[0006] Through analysis and comparison of the existing energy-saving and carbon-reducing methods of non-road walking working machines, it is found that the hydraulic transformer scheme is theoretically feasible but cannot be implemented at present. The walking drive scheme with the motor parallel to the hydraulic motor through the planetary reducer, although it eliminates the hydraulic coupler and improves the system energy efficiency, still has a large waste of braking kinetic energy due to the coupling method limitation and needs to be improved. SUMMARY

[0007] The purpose of the present application is to provide an electrically driven non-road mobile working machine drive and transmission control system that can efficiently drive non-road mobile working machines, recycle machine braking kinetic energy and working mechanism gravitational potential energy, eliminate throttling losses of the working mechanism, reduce the installed power and peak power of the machine through efficient use of kinetic energy, and achieve energy saving and carbon reduction of non-road mobile machines.

[0008] To achieve the above object, the present application provides the following scheme:

[0009] The present application provides a kind of electric drive non-road mobile operation machinery drive and transmission control system, including first motor driver, second motor driver, third motor driver, electro-hydraulic control system, linear actuator system, walking unit, rotating unit and controller;The first motor driver and the second motor driver are connected with the walking unit respectively, the rotating unit and the linear actuator system are connected with the electro-hydraulic control system respectively, the electro-hydraulic control system is coaxially connected with the first motor driver and the second motor driver two ends, the third motor driver and the rotating unit are connected in parallel in rotating body, the controller is connected with the first motor driver, the second motor driver, the third motor driver, the electro-hydraulic control system and the linear actuator system respectively.

[0010] Preferably, the first motor driver includes the first motor / generator, the first inverter, the first energy storage structure, the first DC / DC converter, the first DC bus, the first rectifier unit and the first power switch;

[0011] The input end of the first power switch is connected with power line, the output end of the first power switch is connected with the input end of the first rectifier unit, the output end of the first rectifier unit is connected with the first DC bus, the input end of the first DC / DC converter is connected with the first DC bus, the output end of the first DC / DC converter is connected with the first energy storage structure, the input end of the first inverter is connected with the first DC bus, the output end of the first inverter is connected with the first motor / generator;

[0012] The second motor driver includes the second motor / generator, the second inverter, the second energy storage structure, the second DC / DC converter, the second DC bus, the second rectifier unit and the second power switch;

[0013] The input end of the second power switch is connected with power line, the output end of the second power switch is connected with the input end of the second rectifier unit, the output end of the second rectifier unit is connected with the second DC bus, the input end of the second DC / DC converter is connected with the second DC bus, the output end of the second DC / DC converter is connected with the second energy storage structure, the input end of the second inverter is connected with the second DC bus, the output end of the second inverter is connected with the second motor / generator;

[0014] The third motor driver includes the third motor / generator, the third inverter, the third energy storage structure, the third DC / DC converter, the third DC bus, the third rectifier unit and the third power switch;

[0015] an input end of the third power switch is connected with a power line, an output end of the third power switch is connected with an input end of the third rectifier unit, an output end of the third rectifier unit is connected with the third DC bus, an input end of the third DC / DC converter is connected with the third DC bus, an output end of the third DC / DC converter is connected with the third energy storage structure, an input end of the third inverter is connected with the third DC bus, and an output end of the third inverter is connected with the third motor / generator;

[0016] The electro-hydraulic control system comprises a front axle traveling hydraulic pump / motor, a rear axle traveling hydraulic pump / motor, a motor structure, a hydraulic pump structure, a relief valve, a pressure sensor, an accumulator structure and a control valve.

[0017] An output shaft of the front axle traveling hydraulic pump / motor is mechanically connected with an input shaft of the second motor / generator, an output shaft of the rear axle traveling hydraulic pump / motor is mechanically connected with an input shaft of the first motor / generator, an output shaft of the motor structure is mechanically connected with the hydraulic pump structure, and a hydraulic pump oil outlet is connected with a front axle traveling hydraulic pump / motor oil inlet, a rear axle traveling hydraulic pump / motor oil inlet, a relief valve oil inlet, a control valve oil inlet and an accumulator inlet / outlet through a hydraulic pipeline; and an oil inlet of the pressure sensor is connected on a pipeline between the accumulator structure and the relief valve.

[0018] The linear actuator system comprises a first hydraulic mechanical cylinder, a second hydraulic mechanical cylinder, a third hydraulic mechanical cylinder, a fourth hydraulic mechanical cylinder, a fifth hydraulic mechanical cylinder, a sixth hydraulic mechanical cylinder, a first control valve, a second control valve, a third control valve, a fourth control valve and a fifth control valve, wherein the first hydraulic mechanical cylinder, the second hydraulic mechanical cylinder, the third hydraulic mechanical cylinder, the fourth hydraulic mechanical cylinder, the fifth hydraulic mechanical cylinder and the sixth hydraulic mechanical cylinder each comprise a hydraulic pump / motor.

[0019] Oil outlets of the control valves are connected with oil inlets of the first control valve, the second control valve, the third control valve, the fourth control valve and the fifth control valve respectively; an oil inlet of the first control valve is connected with a hydraulic pump / motor oil inlet of the first hydraulic mechanical cylinder, an oil inlet of the second control valve is connected with a hydraulic pump / motor oil inlet of the second hydraulic mechanical cylinder, an oil inlet of the third control valve is connected with a hydraulic pump / motor oil inlet of the third hydraulic mechanical cylinder, an oil inlet of the fourth control valve is connected with a hydraulic pump / motor oil inlet of the fourth hydraulic mechanical cylinder, and an oil inlet of the fifth control valve is connected with a hydraulic pump / motor oil inlet of the fifth hydraulic mechanical cylinder; and an oil inlet of the sixth control valve is connected with a hydraulic pump / motor oil inlet of the sixth hydraulic mechanical cylinder.

[0020] The slewing unit comprises a slewing hydraulic pump / motor, a left overflow valve, a right overflow valve, a left check valve, a right check valve, a slewing control valve and a superstructure slewing body;

[0021] The oil inlet of the slewing control valve is connected with the oil outlet of the control valve, the oil outlet of the slewing control valve is connected with the oil inlet of the right overflow valve, the oil outlet of the right check valve and the oil inlet of the slewing hydraulic pump / motor respectively, and the oil inlet of the slewing control valve is connected with the oil outlet of the slewing hydraulic pump / motor, the oil outlet of the left check valve and the oil inlet of the left overflow valve respectively; the output shaft of the slewing hydraulic pump / motor and the output shaft of the third motor / generator are connected with the superstructure slewing body in parallel;

[0022] The output ends of the controller are electrically connected with the control ends of the first inverter, the second inverter and the third inverter respectively, the control end of the control valve, the control ends of the first control valve, the second control valve, the third control valve, the fourth control valve and the fifth control valve in the linear actuator system, the control end of the slewing control valve and the output ends of the pressure sensors.

[0023] Preferably, the traveling unit comprises a front axle coupling, a rear axle coupling, a front axle traveling reducer, a rear axle traveling reducer, a front axle differential, a rear axle differential, a front driving wheel and a rear driving wheel;

[0024] The output shaft of the first motor / generator and the input shaft of the front axle traveling reducer are mechanically connected at two ends of the front axle coupling, the output shaft of the front axle traveling reducer is mechanically connected with the input shaft of the front axle differential, and the front axle differential is mechanically connected with the front driving wheel; the output shaft of the second motor / generator and the input shaft of the rear axle traveling reducer are mechanically connected at two ends of the rear axle coupling, the output shaft of the rear axle traveling reducer is mechanically connected with the input shaft of the rear axle differential, and the rear axle differential is mechanically connected with the rear driving wheel.

[0025] Preferably, the fourth motor driver is further included, and the fourth motor driver comprises a fourth motor / generator, a fourth inverter, a fourth energy storage structure, a fourth DC / DC converter, a fourth DC bus, a fourth rectifying unit and a fourth power switch;

[0026] The input end of the fourth power switch is connected with a power line, the output end of the fourth power switch is connected with the input end of the fourth rectifying unit, the output end of the fourth rectifying unit is connected with the fourth DC bus, the input end of the fourth DC / DC converter is connected with the fourth DC bus, the output end of the fourth DC / DC converter is connected with the fourth energy storage structure, the input end of the fourth inverter is connected with the fourth DC bus, and the output end of the fourth inverter is connected with the fourth motor / generator;

[0027] The electro-hydraulic control system further comprises a left front traveling hydraulic pump / motor and a right front traveling hydraulic pump / motor; an output shaft of the left front traveling hydraulic pump / motor is connected with an input shaft of the third motor / generator, and an output shaft of the right front traveling hydraulic pump / motor is connected with an input shaft of the fourth motor / generator.

[0028] Preferably, the traveling unit comprises a left rear axle coupling, a right rear axle coupling, a left front axle coupling, a right front axle coupling, a left rear wheel-side reducer, a right rear wheel-side reducer, a left front wheel-side reducer, a right front wheel-side reducer, a left rear drive wheel, a right rear drive wheel, a left front drive wheel and a right front drive wheel.

[0029] The left rear axle coupling is mechanically connected with an output shaft of the first motor / generator and an input shaft of the left rear wheel-side reducer respectively, an output shaft of the left rear wheel-side reducer is mechanically connected with an input shaft of the left rear drive wheel, the right rear axle coupling is mechanically connected with an output shaft of the second motor / generator and an input shaft of the right rear wheel-side reducer respectively, an output shaft of the right rear wheel-side reducer is mechanically connected with an input shaft of the right rear drive wheel, the left front axle coupling is mechanically connected with an output shaft of the third motor / generator and an input shaft of the left front wheel-side reducer respectively, an output shaft of the left front wheel-side reducer is mechanically connected with an input shaft of the left front drive wheel, the right front axle coupling is mechanically connected with an output shaft of the fourth motor / generator and an input shaft of the right front wheel-side reducer respectively, and an output shaft of the right front wheel-side reducer is mechanically connected with an input shaft of the right front drive wheel.

[0030] Preferably, the first hydraulic mechanical cylinder, the second hydraulic mechanical cylinder, the third hydraulic mechanical cylinder, the fourth hydraulic mechanical cylinder, the fifth hydraulic mechanical cylinder and the sixth hydraulic mechanical cylinder in the linear actuator system each further comprises a reducer, a lead screw and a nut push rod; an output shaft of the hydraulic pump / motor is mechanically connected with an input shaft of the reducer, an output shaft of the reducer is connected with a driving end of the lead screw, the lead screw is connected with the nut push rod to form a lead screw transmission pair, and the rotation of the lead screw is converted into the linear movement of the nut push rod.

[0031] Preferably, the first motor / generator and the second motor / generator each have two output shafts, one output shaft of the first motor / generator is connected with the rear axle coupling, the other output shaft of the first motor / generator is connected with the rear axle traveling hydraulic pump / motor, one output shaft of the second motor / generator is connected with the front axle coupling, and the other output shaft of the second motor / generator is connected with the front axle traveling hydraulic pump / motor.

[0032] Preferably, the control valve is one, and one control valve is arranged at the total inlet of the hydraulic pump / motor of the first hydraulic mechanical cylinder, the hydraulic pump / motor of the second hydraulic mechanical cylinder, the hydraulic pump / motor of the third hydraulic mechanical cylinder, the hydraulic pump / motor of the fourth hydraulic mechanical cylinder, the hydraulic pump / motor of the fifth hydraulic mechanical cylinder and the hydraulic pump / motor of the sixth hydraulic mechanical cylinder.

[0033] The control valve is multiple, and multiple control valves are arranged at the inlets of the hydraulic pump / motor of the first hydraulic mechanical cylinder, the hydraulic pump / motor of the second hydraulic mechanical cylinder, the hydraulic pump / motor of the third hydraulic mechanical cylinder, the hydraulic pump / motor of the fourth hydraulic mechanical cylinder, the hydraulic pump / motor of the fifth hydraulic mechanical cylinder and the hydraulic pump / motor of the sixth hydraulic mechanical cylinder.

[0034] Preferably, the motor structure is one motor or a motor group comprising two or more motors.

[0035] The motor is one of a three-phase asynchronous motor, a direct current motor or a servo motor; or the motor is an internal combustion engine.

[0036] The hydraulic pump structure is one hydraulic pump or a hydraulic pump group comprising two or more hydraulic pumps, and the hydraulic pump is one of a constant power variable pump, a constant pressure variable pump or an electric proportional variable displacement pump.

[0037] Preferably, the first energy storage structure, the second energy storage structure and the third energy storage structure are super capacitor groups or power battery groups.

[0038] The accumulator structure is one accumulator or an accumulator group comprising two or more accumulators, and the accumulator is a piston accumulator or an air bag accumulator.

[0039] The present application has the following technical effects relative to the prior art:

[0040] The front axle walking hydraulic pump / motor is mechanically connected with the second electric motor / generator, and the rear axle walking hydraulic pump / motor is mechanically connected with the first electric motor / generator, and the first electric motor / generator and the second electric motor / generator can flexibly change the speed and reverse, and when the engineering machinery is working in a high load condition, the first electric motor / generator and the second electric motor / generator provide insufficient torque, and the front axle walking hydraulic pump / motor and the rear axle walking hydraulic pump / motor provide compensation torque, so that the engineering machinery can adapt to full working condition, and overcome the defect of "shaking" caused by insufficient driving torque of the motor only.

[0041] The front axle walking hydraulic pump / motor, the rear axle walking hydraulic pump / motor, the first electric motor / generator and the second electric motor / generator of the application have both walking unit acceleration driving function and deceleration braking energy recovery function; during deceleration braking, the front axle walking hydraulic pump / motor and the rear axle walking hydraulic pump / motor are in pump working condition, converting kinetic energy during braking into hydraulic energy and storing the hydraulic energy in the accumulator to supply the next working cycle of the walking unit acceleration driving and the linear actuator system, and the first electric motor / generator and the second electric motor / generator are in generator working condition, converting kinetic energy during braking into electric energy and storing the electric energy in the energy storage structure to supply the walking unit acceleration driving, thereby realizing efficient recovery and reuse of energy.

[0042] The first hydraulic mechanical cylinder, the second hydraulic mechanical cylinder, the third hydraulic mechanical cylinder, the fourth hydraulic mechanical cylinder, the fifth hydraulic mechanical cylinder and the sixth hydraulic mechanical cylinder in the linear actuator system of the application are in motor working condition when the working mechanism is lifted, loaded and turned, and can use the walking unit braking and slewing unit braking energy recovered by the electro-hydraulic control system; when the working mechanism is lowered, unloaded and backhauled, the hydraulic pump / motor is in pump working condition, converting gravitational potential energy into hydraulic energy and storing the hydraulic energy in the accumulator to supply the next working cycle.

[0043] The walking unit braking energy and the slewing unit braking energy recovered by the electro-hydraulic control system of the application can be used for the movement of the linear actuator system; the gravitational potential energy recovered by the linear actuator system can also be used for acceleration driving of the walking unit and the slewing unit, thereby realizing mutual use of recovered energy.

[0044] The first hydraulic mechanical cylinder, the second hydraulic mechanical cylinder, the third hydraulic mechanical cylinder, the fourth hydraulic mechanical cylinder, the fifth hydraulic mechanical cylinder and the sixth hydraulic mechanical cylinder in the linear actuator system of the application are all driven by hydraulic pump / motor, thereby fundamentally solving the problem of difficulty in adjusting the hydraulic cylinder by using a hydraulic transformer for secondary adjustment.

[0045] The electric driving off-road mobile working machine driving and transmission control system of the application uses an electro-hydraulic control system, an accumulator, a first energy storage structure, a second energy storage structure and a third energy storage structure, a linear actuator system, a walking unit and a slewing unit, and can efficiently drive the off-road mobile working machine to walk, efficiently recover and use the machine braking kinetic energy and the working mechanism gravitational potential energy, drive and transmit control, and simultaneously eliminate the throttling loss of the working mechanism, thereby reducing the installed power and peak power of the machine through efficient use of kinetic energy, and realizing energy saving and carbon reduction of the off-road mobile machine. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0047] Figure 1 Whole machine working part schematic view of the wheel excavator of the electric drive non-road mobile operation machine driving and transmission control system of the present application;

[0048] Figure 2 Schematic view of the wheel excavator adopting the electric drive non-road mobile operation machine driving and transmission control system of the present application;

[0049] Figure 3 Working flow chart of the electric drive non-road mobile operation machine driving and transmission control system of the present application;

[0050] Figure 4 Schematic view of the loader adopting the electric drive non-road mobile operation machine driving and transmission control system of the present application;

[0051] Wherein: 1-1 - the first motor driver, 111 - the first motor / generator, 112 - the first inverter, 113 - the first energy storage structure, 114 - the first DC / DC converter, 115 - the first DC bus, 116 - the first rectifier unit, 117 - the first power switch, 1-2 - the second motor driver, 121 - the second motor / generator, 122 - the second inverter, 123 - the second energy storage structure, 124 - the second DC / DC converter, 125 - the second DC bus, 126 - the second rectifier unit, 127 - the second power switch, 1-3 - the third motor driver, 131 - the third motor / generator, 132 - the third inverter, 133 - the third energy storage structure, 134 - the third DC / DC converter, 135 - the third DC bus, 136 - the third rectifier unit, 137 - the third power switch, 1-4 - the fourth motor driver, 141 - the fourth motor / generator, 142 - the fourth inverter, 143 - the fourth energy storage structure, 144 - the fourth DC / DC converter, 145 - the fourth DC bus, 146 - the fourth rectifier unit, 147 - the fourth power switch, 2 - the electro-hydraulic control system, 21 - the rear axle traveling hydraulic pump / motor, 22 - the front axle traveling hydraulic pump / motor, 23 - the electric motor structure, 24 - the hydraulic pump structure, 25 - the overflow valve, 26 - the pressure sensor, 27 - the accumulator structure, 28 - the control valve, 29 - the left front traveling hydraulic pump / motor, 30 - the right front traveling hydraulic pump / motor, 3 - the linear actuator system, 31 - the first hydraulic mechanical cylinder, 311 - the hydraulic pump / motor, 312 - the speed reducer, 313 - the lead screw, 314 - the nut push rod, 32 - the second hydraulic mechanical cylinder, 33 - the third hydraulic mechanical cylinder, 34 - the fourth hydraulic mechanical cylinder, 35 - the fifth hydraulic mechanical cylinder, 36 - the sixth hydraulic mechanical cylinder, 321 - the first control valve, 322 - the second control valve, 323 - the third control valve, 324 - the fourth control valve, 324 - the fifth control valve, 4 - the traveling unit, 411 - the rear axle coupling, 412 - the front axle coupling, 413 - the left rear axle coupling, 414 - the right rear axle coupling, 415 - the left front axle coupling, 416 - the right front axle coupling, 421 - the rear axle traveling speed reducer, 422 - the front axle traveling speed reducer, 423 - the left rear wheel edge speed reducer, 424 - the right rear wheel edge speed reducer, 425 - the left front wheel edge speed reducer, 426 - the right front wheel edge speed reducer, 431 - the rear axle differential, 432 - the front axle differential, 433 - the left rear drive wheel, 434 - the right rear drive wheel, 435 - the left front drive wheel, 436 - the right front drive wheel, 441 - the rear drive wheel, 442 - the front drive wheel, 5 - the slewing unit, 51 - the slewing hydraulic pump / motor, 52 - the left overflow valve, 53 - the right overflow valve, 54 - the left check valve, 55 - the right check valve, 56 - the slewing control valve, 57 - the superstructure slewing body, 6 - the controller;

[0052] 7 - swivel body; 8 - arm cylinder; 9 - bucket cylinder; 10 - boom cylinder; 11 - traveling part;

[0053] E - hydraulic pump outlet, F - front axle traveling hydraulic pump / motor inlet, G - rear axle traveling hydraulic pump / motor inlet, H - relief valve inlet, I - control valve inlet, J - control valve outlet, K - first control valve inlet, L - second control valve inlet, M - third control valve inlet, N - fourth control valve inlet, P - fifth control valve inlet, Q - swivel control valve inlet, R - swivel control valve outlet, S - swivel control valve inlet. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0055] The purpose of the present application is to provide an electrically driven non-road mobile working machine drive and transmission control system, which can efficiently drive the non-road mobile working machine to walk, recycle machine braking kinetic energy and utilize working mechanism gravity potential energy, and can also eliminate the throttling loss of the working mechanism at the same time. Through efficient utilization of kinetic energy, the installed power and peak power of the machine are reduced, and energy saving and carbon reduction of the non-road mobile machine are realized.

[0056] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0057] Embodiment one

[0058] As Figures 1 to 3The embodiment provides a kind of electric drive non-road mobile operation machine drive and transmission control system, is installed in wheel excavator, electric drive non-road mobile operation machine drive and transmission control system includes first motor driver 1-1, second motor driver 1-2, third motor driver 1-3, electro-hydraulic control system 2, linear actuator system 3, walking unit 4, rotary unit 5 and controller 6.First motor driver 1-1 and second motor driver 1-2 are connected with walking unit 4 respectively, provide driving power and deceleration brake energy recycling and reuse;Electro-hydraulic control system 2 is connected with rotary unit 5, provides rotary power and rotary brake kinetic energy recycling and reuse, electro-hydraulic control system 2 is coaxially connected with the two ends of first motor driver 1-1 and second motor driver 1-2, provides walking power compensation and brake kinetic energy recycling and reuse, electro-hydraulic control system 2 is connected with linear actuator system 3, provides execution power and operation mechanism gravitational potential energy recycling and reuse;Third motor driver 1-3 and rotary unit 5 are connected in parallel in rotary body 7, realize liquid-electric hybrid drive and brake kinetic energy recycling and reuse;Controller 6 is connected with first motor driver 1-1, second motor driver 1-2, third motor driver 1-3, electro-hydraulic control system 2 and linear actuator system 3 respectively.In the embodiment, by using electro-hydraulic hybrid drive, linear actuator system 3, walking unit 4 and rotary unit 5 etc., not only can high-efficiency drive non-road mobile operation machine walk, realize recycling and reuse machine brake kinetic energy and operation mechanism gravitational potential energy drive and transmission control, but also can eliminate the throttling loss of operation mechanism, reduce the installed power and peak power of machine, realize the energy saving and carbon reduction of non-road mobile machine.

[0059] Specifically, in the embodiment, first motor driver 1-1 includes first motor / generator 111, first inverter 112, first energy storage structure 113, first DC / DC converter 114, first DC bus 115, first rectifier unit 116 and first power switch 117.

[0060] The input end of first power switch 117 is connected with power line, the output end of first power switch 117 is connected with the input end of first rectifier unit 116, the output end of first rectifier unit 116 is connected with first DC bus 115, the input end of first DC / DC converter 114 is connected with first DC bus 115, the output end of first DC / DC converter 114 is connected with first energy storage structure 113, the input end of first inverter 112 is connected with first DC bus 115, and the output end of first inverter 112 is connected with first motor / generator 111.

[0061] Second motor driver 1-2 includes second motor / generator 121, second inverter 122, second energy storage structure 123, second DC / DC converter 124, second DC bus 125, second rectifier unit 126 and second power switch 127.

[0062] The input end of the third power switch 137 is connected with the power line, the output end of the third power switch 137 is connected with the input end of the third rectifier unit 136, the output end of the third rectifier unit 136 is connected with the third DC bus 135, the input end of the third DC / DC converter 134 is connected with the third DC bus 135, the output end of the third DC / DC converter 134 is connected with the third energy storage structure 133, the input end of the third inverter 132 is connected with the third DC bus 135, and the output end of the third inverter 132 is connected with the third motor / generator 131.

[0063] The third motor driver 1-3 includes a third motor / generator 131, a third inverter 132, a third energy storage structure 133, a third DC / DC converter 134, a third DC bus 135, a third rectifier unit 136, and a third power switch 137.

[0064] The input end of the third power switch 137 is connected with the power line, the output end of the third power switch 137 is connected with the input end of the third rectifier unit 136, the output end of the third rectifier unit 136 is connected with the third DC bus 135, the input end of the third DC / DC converter 134 is connected with the third DC bus 135, the output end of the third DC / DC converter 134 is connected with the third energy storage structure 133, the input end of the third inverter 132 is connected with the third DC bus 135, and the output end of the third inverter 132 is connected with the third motor / generator 131.

[0065] The electro-hydraulic control system 2 includes a rear axle traveling hydraulic pump / motor 21, a front axle traveling hydraulic pump / motor 22, a motor structure 23, a hydraulic pump structure 24, a relief valve 25, a pressure sensor 26, an accumulator structure 27, and a control valve 28.

[0066] The output shaft of the front axle traveling hydraulic pump / motor 22 is mechanically connected with the input shaft of the second motor / generator 121, the output shaft of the rear axle traveling hydraulic pump / motor 21 is mechanically connected with the input shaft of the first motor / generator 111, the output shaft of the motor structure 23 is mechanically connected with the hydraulic pump structure 24, the oil outlet of the hydraulic pump structure 24 is connected with the oil inlets of the front axle traveling hydraulic pump / motor 22, the rear axle traveling hydraulic pump / motor 21, the relief valve 25, the control valve 28, and the accumulator structure 27 through hydraulic pipelines, and the oil inlet of the pressure sensor 26 is connected with the pipeline between the accumulator structure 27 and the relief valve 25.

[0067] The linear actuator system 3 includes the first hydraulic mechanical cylinder 31, the second hydraulic mechanical cylinder 32, the third hydraulic mechanical cylinder 33, the fourth hydraulic mechanical cylinder 34, the fifth hydraulic mechanical cylinder 35, the sixth hydraulic mechanical cylinder 36, the first control valve 321, the second control valve 322, the third control valve 323, the fourth control valve 324 and the fifth control valve 325; the first hydraulic mechanical cylinder 31 and the second hydraulic mechanical cylinder 32 are boom driving cylinders, the third hydraulic mechanical cylinder 33 is a stick driving cylinder, the fourth hydraulic mechanical cylinder 34 is a bucket driving cylinder, the fifth hydraulic mechanical cylinder 35 is a left steering driving cylinder, and the sixth hydraulic mechanical cylinder 36 is a right steering driving cylinder; the first control valve 321 is a boom cylinder control valve, the second control valve 322 is a stick cylinder control valve, the third control valve 323 is a bucket cylinder control valve, the fourth control valve 324 is a left steering cylinder control valve, and the fifth control valve 325 is a right steering cylinder control valve; the first hydraulic mechanical cylinder 31, the second hydraulic mechanical cylinder 32, the third hydraulic mechanical cylinder 33, the fourth hydraulic mechanical cylinder 34, the fifth hydraulic mechanical cylinder 35 and the sixth hydraulic mechanical cylinder 36 each include a hydraulic pump / motor 311, a speed reducer 312, a lead screw 313 and a nut push rod 314, wherein the output shaft of the hydraulic pump / motor 311 is connected with the input shaft of the speed reducer 312, the output shaft of the speed reducer 312 is connected with the driving end of the lead screw 313, and the lead screw 313 is connected with the nut push rod 314 in a matched manner to form a lead screw transmission pair, so as to convert the rotary motion of the lead screw 313 into the linear motion of the nut push rod 314.

[0068] The control valve oil outlet J is connected with the first control valve oil inlet K, the second control valve oil inlet L, the third control valve oil inlet M, the fourth control valve oil inlet N and the fifth control valve oil inlet P respectively. The first control valve oil outlet is connected with the hydraulic pump / motor oil inlet of the first hydraulic mechanical cylinder 31 and the hydraulic pump / motor oil inlet of the second hydraulic mechanical cylinder 32 respectively, the second control valve oil outlet is connected with the hydraulic pump / motor oil inlet of the third hydraulic mechanical cylinder 33, the third control valve oil outlet is connected with the hydraulic pump / motor oil inlet of the fourth hydraulic mechanical cylinder 34, the fourth control valve oil outlet is connected with the hydraulic pump / motor oil inlet of the fifth hydraulic mechanical cylinder 35, and the fifth control valve oil outlet is connected with the hydraulic pump / motor oil inlet of the sixth hydraulic mechanical cylinder 36.

[0069] The traveling unit 4 includes a front axle coupling 412, a rear axle coupling 411, a front axle traveling speed reducer 422, a rear axle traveling speed reducer 421, a front axle differential 432, a rear axle differential 431, a front driving wheel 442 and a rear driving wheel 441.

[0070] The front axle coupling 412 is mechanically connected with the output shaft of the second motor / generator 121 and the input shaft of the front axle travel reducer 422 at both ends, the output shaft of the front axle travel reducer 422 is mechanically connected with the input shaft of the front axle differential 432, the front axle differential 432 is mechanically connected with the front driving wheel 442; the rear axle coupling 411 is mechanically connected with the output shaft of the first motor / generator 111 and the input shaft of the rear axle travel reducer 421 at both ends, the output shaft of the rear axle travel reducer 421 is mechanically connected with the input shaft of the rear axle differential 431, the rear axle differential 431 is mechanically connected with the rear driving wheel 441;

[0071] The slewing unit 5 comprises a slewing hydraulic pump / motor 51, a left overflow valve 52, a right overflow valve 53, a left check valve 54, a right check valve 55, a slewing control valve 56 and a superstructure slewing body 57.

[0072] The slewing control valve inlet Q is connected with the control valve outlet J, the slewing control valve outlet R is connected with the right overflow valve 53 inlet, the right check valve 55 outlet and the slewing hydraulic pump / motor 51 inlet respectively, the slewing control valve inlet S is connected with the slewing hydraulic pump / motor 51 outlet, the left check valve 52 outlet and the left overflow valve 54 inlet, the output shaft of the slewing hydraulic pump / motor 51 and the output shaft of the third motor / generator 311 are connected with the superstructure slewing body 57 in parallel.

[0073] The output end of the controller 6 is electrically connected with the control end of the first inverter 112, the control end of the second inverter 122, the control end of the third inverter 132, the control end of the control valve 28, the control valve in the linear actuator system 3, the control end of the slewing control valve 56 and the output end of the pressure sensor 26.

[0074] In the embodiment, the motor structure 23 is one motor or a motor group comprising two or more motors; the motor is one of a three-phase asynchronous motor, a direct current motor or a servo motor; or the motor is an internal combustion engine.

[0075] In the embodiment, the hydraulic pump structure 24 is one hydraulic pump or a hydraulic pump group comprising two or more hydraulic pumps; the hydraulic pump is one of a constant power variable pump, a constant pressure variable pump or an electric proportional variable displacement pump.

[0076] In the embodiment, the first energy storage structure 113, the second energy storage structure 123 and the third energy storage structure 133 are super capacitor groups or power battery groups.

[0077] In the embodiment, the accumulator structure 27 is one accumulator or an accumulator group comprising two or more accumulators; the accumulator is a piston type accumulator or an air bag type accumulator.

[0078] In this embodiment, the linear actuator system 3 can include one hydraulic cylinder, two hydraulic cylinders, or more than three hydraulic cylinders according to the requirements of the working machine.

[0079] In this embodiment, the number of electric motors / generators can be two, one, or more than three according to the actual requirements of the machine. The first electric motor / generator 111 and the second electric motor / generator 121 each have two output shafts. One output shaft of the first electric motor / generator 111 is connected to the rear axle coupling 411, and the other output shaft of the first electric motor / generator 111 is connected to the rear axle traveling hydraulic pump / motor 21. One output shaft of the second electric motor / generator 121 is connected to the front axle coupling 412, and the other output shaft of the second electric motor / generator 121 is connected to the front axle traveling hydraulic pump / motor 22.

[0080] In this embodiment, the control valve 28 is one, and one control valve 28 is arranged at the total inlet of the hydraulic pump / motor 311 of the first hydraulic cylinder 31, the hydraulic pump / motor 311 of the second hydraulic cylinder 32, the hydraulic pump / motor 311 of the third hydraulic cylinder 33, the hydraulic pump / motor 311 of the fourth hydraulic cylinder 34, the hydraulic pump / motor 311 of the fifth hydraulic cylinder 35, and the hydraulic pump / motor 311 of the sixth hydraulic cylinder 36.

[0081] In this embodiment, the control valve 28 is one, and one control valve 28 is arranged at the total inlet of the hydraulic pump / motor 311 of the first hydraulic cylinder 31, the hydraulic pump / motor 311 of the second hydraulic cylinder 32, the hydraulic pump / motor 311 of the third hydraulic cylinder 33, the hydraulic pump / motor 311 of the fourth hydraulic cylinder 34, the hydraulic pump / motor 311 of the fifth hydraulic cylinder 35, and the hydraulic pump / motor 311 of the sixth hydraulic cylinder 36.

[0082] The main working process of the electric drive off-road mobile working machine drive and transmission control system in this embodiment is as follows:

[0083] When the front drive wheels 442 and the rear drive wheels 441 are working, the rear axle traveling hydraulic pump / motor 21 is mechanically connected to the first electric motor / generator 111, and the front axle traveling hydraulic pump / motor 22 is mechanically connected to the second electric motor / generator 121. The first electric motor / generator 111 and the second electric motor / generator 121 can flexibly change the rotation speed and direction of the front drive wheels 442 and the rear drive wheels 441. When the working machine is in a high-load working condition, the first electric motor / generator 111 and the second electric motor / generator 121 provide insufficient torque, and the front axle traveling hydraulic pump / motor 22 and the rear axle traveling hydraulic pump / motor 21 provide torque compensation, and realize liquid-electric hybrid drive.

[0084] When decelerating, the front axle walking hydraulic pump / motor 22 and the rear axle walking hydraulic pump / motor 21 are in the pump working condition, converting the kinetic energy during braking into hydraulic energy, which is stored in the accumulator structure 27 to supplement the acceleration drive of the walking unit 4 and the next working cycle of the linear actuator system 3. The first electric motor / generator 111 and the second electric motor / generator 121 are in the generator working condition, converting the kinetic energy during braking into electrical energy, which is stored in the first energy storage structure 113 and the second energy storage structure 123 to supplement the acceleration drive of the walking unit 4, realizing efficient recycling of energy.

[0085] When the first hydraulic mechanical cylinder 31 (boom drive cylinder) and the second hydraulic mechanical cylinder 32 (boom drive cylinder) of the wheel excavator are lifted, the third hydraulic mechanical cylinder 33 (stick drive cylinder) and the fourth hydraulic mechanical cylinder 34 (bucket drive cylinder) are cooperated to dig, and the fifth hydraulic mechanical cylinder 35 (left steering drive cylinder) and the sixth hydraulic mechanical cylinder 36 (right steering drive cylinder) are steered, the hydraulic pump / motor 311 is in the motor working condition and can be driven by the braking energy of the walking unit 4 recycled by the electro-hydraulic control system 2; when the first hydraulic mechanical cylinder 31 (boom drive cylinder) and the second hydraulic mechanical cylinder (boom drive cylinder) are lowered, the third hydraulic mechanical cylinder 33 (stick drive cylinder) and the fourth hydraulic mechanical cylinder 34 (bucket drive cylinder) are cooperated to unload, and the fifth hydraulic mechanical cylinder 35 (left steering drive cylinder) and the sixth hydraulic mechanical cylinder 36 (right steering drive cylinder) are steered to return, the hydraulic pump / motor 311 is in the pump working condition, converting the gravitational potential energy and kinetic energy of the return into hydraulic energy and storing it in the accumulator structure 27 to supplement the acceleration drive of the next working cycle or the walking unit 4 and the slewing unit 5.

[0086] The braking energy of the walking unit 4 and the braking energy of the slewing unit 5 recycled by the electro-hydraulic control system 2 in the embodiment can be used for the movement of the linear actuator system 3; the gravitational potential energy recycled by the linear actuator system 3 can also be used for the acceleration drive of the walking unit 4 and the slewing unit 5, realizing the mutual use of recycled energy.

[0087] The electric drive off-road mobile working machine driving and transmission control system of the embodiment can not only efficiently drive the off-road mobile working machine, recycle the braking kinetic energy of the machine and the gravitational potential energy of the working mechanism, but also can eliminate the throttling loss of the working mechanism at the same time. Through efficient use of kinetic energy, the installed power and peak power of the machine are reduced, realizing energy saving and carbon reduction of the off-road mobile machine.

[0088] Embodiment two

[0089] As Figure 4As shown: this embodiment discloses a kind of wheeled engineering working machine: loader, install the electric drive off-road mobile working machine drive and transmission control system of example one.It includes the first motor driver 1-1, the second motor driver 1-2, the third motor driver 1-3, the fourth motor driver 1-4, electro-hydraulic control system 2, linear actuator system 3, walking unit 4 and controller 6.

[0090] In this embodiment, since loader does not have rotating unit, it does not contain rotating unit 5 in the electric drive off-road mobile working machine drive and transmission control system.

[0091] In this embodiment, the fourth motor driver 1-4 is added, and the fourth motor driver 1-4 includes the fourth motor / generator 141, the fourth inverter 142, the fourth energy storage structure 143, the fourth DC / DC converter 144, the fourth DC bus 145, the fourth rectification unit 146 and the fourth power switch 147.

[0092] The input end of the fourth power switch 147 is connected with the power line, the output end of the fourth power switch 147 is connected with the input end of the fourth rectification unit 146, the output end of the fourth rectification unit 146 is connected with the fourth DC bus 145, the input end of the fourth DC / DC converter 144 is connected with the fourth DC bus 145, the output end of the fourth DC / DC converter 144 is connected with the fourth energy storage structure 143, the input end of the fourth inverter 142 is connected with the fourth DC bus 145, and the output end of the fourth inverter 142 is connected with the fourth motor / generator 141.

[0093] In this embodiment, the electro-hydraulic control system 2 is added with left front walking hydraulic pump / motor 29 and right front walking hydraulic pump / motor 30. The output shaft of the left front walking hydraulic pump / motor 29 is connected with the input shaft of the third motor / generator 131, and the output shaft of the right front walking hydraulic pump / motor 30 is connected with the input shaft of the fourth motor / generator 141.

[0094] In this embodiment, the linear actuator system 3 includes the first hydraulic mechanical cylinder 31, the second hydraulic mechanical cylinder 32, the third hydraulic mechanical cylinder 33, the fourth hydraulic mechanical cylinder 34, the fifth hydraulic mechanical cylinder 35, the first control valve 321, the second control valve 322, the third control valve 323 and the fourth control valve 324; the first hydraulic mechanical cylinder 31 and the second hydraulic mechanical cylinder 32 are boom driving cylinders, the third hydraulic mechanical cylinder 33 is a bucket driving cylinder, the fourth hydraulic mechanical cylinder 34 is a left steering driving cylinder, and the fifth hydraulic mechanical cylinder 35 is a right steering driving cylinder; the first control valve 321 is a boom cylinder control valve, the second control valve 322 is a bucket cylinder control valve, the third control valve 323 is a left steering cylinder control valve, and the fourth control valve 324 is a right steering cylinder control valve.

[0095] In this embodiment, when the loader is working in the lifting mode with the first and second hydraulic mechanical cylinders 31 and 32, in the digging mode with the third hydraulic mechanical cylinder 33, and in the steering mode with the fourth and fifth hydraulic mechanical cylinders 34 and 35, the hydraulic pump / motor 311 is in the motor mode and can be driven by the braking energy of the traveling unit 4 recovered by the electro-hydraulic control system 2. When the loader is working in the lowering mode with the first and second hydraulic mechanical cylinders 31 and 32, in the unloading mode with the third hydraulic mechanical cylinder 33, and in the steering return mode with the fourth and fifth hydraulic mechanical cylinders 34 and 35, the hydraulic pump / motor 311 is in the pump mode, the gravitational potential energy and kinetic energy of the return are converted into hydraulic energy and stored in the accumulator structure 27 to supply the next working cycle or the acceleration driving of the traveling unit 4.

[0096] In this embodiment, the traveling unit 4 includes the left rear axle coupling 413, the right rear axle coupling 414, the left front axle coupling 415, the right front axle coupling 416, the left rear wheel side reducer 423, the right rear wheel side reducer 424, the left front wheel side reducer 425, the right front wheel side reducer 426, the left rear drive wheel 433, the right rear drive wheel 434, the left front drive wheel 435, and the right front drive wheel 436.

[0097] The left rear axle coupling 413 is mechanically connected to the output shaft of the first motor / generator 111 and the input shaft of the left rear wheel side reducer 423, the output shaft of the left rear wheel side reducer 423 is mechanically connected to the input shaft of the left rear drive wheel 433, the right rear axle coupling 414 is mechanically connected to the output shaft of the second motor / generator 121 and the input shaft of the right rear wheel side reducer 424, the output shaft of the right rear wheel side reducer 424 is mechanically connected to the input shaft of the right rear drive wheel 434, the left front axle coupling 415 is mechanically connected to the output shaft of the third motor / generator 131 and the input shaft of the left front wheel side reducer 425, the output shaft of the left front wheel side reducer 425 is mechanically connected to the input shaft of the left front drive wheel 435, the right front axle coupling 416 is mechanically connected to the output shaft of the fourth motor / generator 141 and the input shaft of the right front wheel side reducer 426, and the output shaft of the right front wheel side reducer 426 is mechanically connected to the input shaft of the right front drive wheel 436.

[0098] In this embodiment, except for the above description, the rest of the system structure and working principle are the same as those in Example One.

[0099] In the specification, only several embodiments of the present application are indicated, which are described in more detail and in a specific manner, but are not a limitation on the protection scope of the present application, for example: wheel loaders, excavators, various forklifts, container cranes, heavy trucks, etc. can use the electric drive non-road mobile operation machine drive and transmission control system of embodiment one, and one set or multiple sets can be arbitrarily installed, and the space can be arranged according to the actual situation.

[0100] In the specification, the principles and embodiments of the present application are described by applying specific examples, and the above description of the embodiments is only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific embodiments and application range will be changed. In view of the above, the content of the specification should not be understood as a limitation on the present application.

Claims

1. An electrically driven drive and transmission control system for a non-road mobile work machine, characterized in: The application relates to a motor drive system, which comprises a first motor driver, a second motor driver, a third motor driver, an electro-hydraulic control system, a linear actuator system, a walking unit, a rotating unit and a controller; the first motor driver and the second motor driver are connected with the walking unit respectively; the rotating unit and the linear actuator system are connected with the electro-hydraulic control system respectively; the electro-hydraulic control system is coaxially connected with both ends of the first motor driver and the second motor driver; the third motor driver and the rotating unit are connected in parallel with a rotating body; and the controller is connected with the first motor driver, the second motor driver, the third motor driver, the electro-hydraulic control system and the linear actuator system respectively. The first motor driver comprises a first motor / generator. The second motor driver comprises a second motor / generator. The third motor driver comprises a third motor / generator. The electro-hydraulic control system comprises a front-bridge walking hydraulic pump / motor, a rear-bridge walking hydraulic pump / motor, a motor structure, a hydraulic pump structure, an overflow valve, a pressure sensor, an accumulator structure and a control valve. The output shaft of the front-bridge walking hydraulic pump / motor is mechanically connected with the input shaft of the second motor / generator; the output shaft of the rear-bridge walking hydraulic pump / motor is mechanically connected with the input shaft of the first motor / generator; and the output shaft of the motor structure is mechanically connected with the hydraulic pump structure. The linear actuator system comprises a first hydraulic mechanical cylinder, a second hydraulic mechanical cylinder, a third hydraulic mechanical cylinder, a fourth hydraulic mechanical cylinder, a fifth hydraulic mechanical cylinder, a sixth hydraulic mechanical cylinder, a first control valve, a second control valve, a third control valve, a fourth control valve and a fifth control valve. The oil outlet of the control valve is connected with the oil inlet of the first control valve, the oil inlet of the second control valve, the oil inlet of the third control valve, the oil inlet of the fourth control valve and the oil inlet of the fifth control valve respectively. The rotating unit comprises a rotating hydraulic pump / motor and a superstructure rotating body. The output shaft of the rotating hydraulic pump / motor and the output shaft of the third motor / generator are connected in parallel with the superstructure rotating body.

2. The electric drive off-road mobile work machine drive and transmission control system of claim 1, characterized by: The first motor driver comprises a first inverter, a first energy storage structure, a first DC / DC converter, a first direct-current bus, a first rectifying unit and a first power switch. The input end of the first power switch is connected with a power line; the output end of the first power switch is connected with the input end of the first rectifying unit; the output end of the first rectifying unit is connected with the first direct-current bus; the input end of the first DC / DC converter is connected with the first direct-current bus; the output end of the first DC / DC converter is connected with the first energy storage structure; the input end of the first inverter is connected with the first direct-current bus; and the output end of the first inverter is connected with the first motor / generator. The second motor driver comprises a second inverter, a second energy storage structure, a second DC / DC converter, a second direct-current bus, a second rectifying unit and a second power switch. The second power switch is connected with a power line; the output end of the second power switch is connected with the input end of the second rectifying unit; the output end of the second rectifying unit is connected with the second direct-current bus; the input end of the second DC / DC converter is connected with the second direct-current bus; the output end of the second DC / DC converter is connected with the second energy storage structure; the input end of the second inverter is connected with the second direct-current bus; and the output end of the second inverter is connected with the second motor / generator. The input end of the second power switch is connected with a power line, the output end of the second power switch is connected with the input end of the second rectifier unit, the output end of the second rectifier unit is connected with the second DC bus, the input end of the second DC / DC converter is connected with the second DC bus, the output end of the second DC / DC converter is connected with the second energy storage structure, the input end of the second inverter is connected with the second DC bus, and the output end of the second inverter is connected with the second motor / generator; The third motor driver comprises a third inverter, a third energy storage structure, a third DC / DC converter, a third DC bus, a third rectifier unit and a third power switch; The input end of the third power switch is connected with a power line, the output end of the third power switch is connected with the input end of the third rectifier unit, the output end of the third rectifier unit is connected with the third DC bus, the input end of the third DC / DC converter is connected with the third DC bus, the output end of the third DC / DC converter is connected with the third energy storage structure, the input end of the third inverter is connected with the third DC bus, and the output end of the third inverter is connected with the third motor / generator; The oil outlet of the hydraulic pump is connected with the oil inlets of the front axle traveling hydraulic pump / motor, the rear axle traveling hydraulic pump / motor, the overflow valve, the control valve and the accumulator through hydraulic pipelines respectively; The first hydraulic mechanical cylinder, the second hydraulic mechanical cylinder, the third hydraulic mechanical cylinder, the fourth hydraulic mechanical cylinder, the fifth hydraulic mechanical cylinder and the sixth hydraulic mechanical cylinder all comprise hydraulic pumps / motors; The oil outlets of the first control valve, the second control valve, the third control valve, the fourth control valve and the fifth control valve are connected with the oil inlets of the hydraulic pumps / motors of the first hydraulic mechanical cylinder, the second hydraulic mechanical cylinder, the third hydraulic mechanical cylinder, the fourth hydraulic mechanical cylinder and the fifth hydraulic mechanical cylinder respectively. The rotation unit comprises a left overflow valve, a right overflow valve, a left check valve, a right check valve and a rotation control valve; The oil inlet of the rotation control valve is connected with the oil outlet of the control valve, the oil outlet of the rotation control valve is connected with the oil inlets of the right overflow valve, the right check valve and the rotation hydraulic pump / motor respectively, and the oil inlets of the rotation hydraulic pump / motor, the left check valve and the left overflow valve are connected with the oil outlet of the rotation control valve respectively. The output ends of the controller are respectively electrically connected with the control ends of the first, second, third inverters, the control ends of the control valves, the first, second, third, fourth, fifth control valves, the rotary control valve in the linear actuator system, and the output ends of the pressure sensors.

3. The electric drive non-road mobile work machine drive and transmission control system of claim 2, characterized by: The walking unit comprises a front axle coupling, a rear axle coupling, a front axle walking reducer, a rear axle walking reducer, a front axle differential, a rear axle differential, a front driving wheel and a rear driving wheel. The output shafts of the first and second electric motors / generators are respectively mechanically connected with the input shafts of the front and rear axle walking reducers, the output shafts of the front and rear axle walking reducers are respectively mechanically connected with the input shafts of the front and rear axle differentials, and the front and rear axle differentials are respectively mechanically connected with the front and rear driving wheels.

4. The electric drive non-road mobile work machine drive and transmission control system of claim 2, characterized by: The fourth motor driver comprises a fourth electric motor / generator, a fourth inverter, a fourth energy storage structure, a fourth DC / DC converter, a fourth DC bus, a fourth rectifying unit and a fourth power switch. The input end of the fourth power switch is connected with a power line, the output end of the fourth power switch is connected with the input end of the fourth rectifying unit, the output end of the fourth rectifying unit is connected with the fourth DC bus, the input end of the fourth DC / DC converter is connected with the fourth DC bus, the output end of the fourth DC / DC converter is connected with the fourth energy storage structure, the input end of the fourth inverter is connected with the fourth DC bus, and the output end of the fourth inverter is connected with the fourth electric motor / generator. The electro-hydraulic control system further comprises a left front walking hydraulic pump / motor and a right front walking hydraulic pump / motor.

5. The electric drive non-road mobile work machine drive and transmission control system of claim 4, characterized by: The walking unit comprises a left rear axle coupling, a right rear axle coupling, a left front axle coupling, a right front axle coupling, a left rear wheel side reducer, a right rear wheel side reducer, a left front wheel side reducer, a right front wheel side reducer, a left rear driving wheel, a right rear driving wheel, a left front driving wheel and a right front driving wheel. The left rear axle coupling is mechanically connected with the output shaft of the first electric motor / generator and the input shaft of the left rear wheel side reducer respectively, the output shaft of the left rear wheel side reducer is mechanically connected with the input shaft of the left rear drive wheel, the right rear axle coupling is mechanically connected with the output shaft of the second electric motor / generator and the input shaft of the right rear wheel side reducer respectively, the output shaft of the right rear wheel side reducer is mechanically connected with the input shaft of the right rear drive wheel, the left front axle coupling is mechanically connected with the output shaft of the third electric motor / generator and the input shaft of the left front wheel side reducer respectively, the output shaft of the left front wheel side reducer is mechanically connected with the input shaft of the left front drive wheel, the right front axle coupling is mechanically connected with the output shaft of the fourth electric motor / generator and the input shaft of the right front wheel side reducer respectively, and the output shaft of the right front wheel side reducer is mechanically connected with the input shaft of the right front drive wheel.

6. The electric drive non-road mobile work machine drive and transmission control system of claim 2, characterized by: The first hydraulic mechanical cylinder, the second hydraulic mechanical cylinder, the third hydraulic mechanical cylinder, the fourth hydraulic mechanical cylinder, the fifth hydraulic mechanical cylinder and the sixth hydraulic mechanical cylinder in the linear actuator system further comprise a reducer, a lead screw and a nut push rod; the output shaft of the hydraulic pump / motor is mechanically connected with the input shaft of the reducer, the output shaft of the reducer is connected with the driving end of the lead screw, and the lead screw is connected with the nut push rod to form a lead screw transmission pair, so as to convert the rotary motion of the lead screw into the linear motion of the nut push rod.

7. The electric drive non-road mobile work machine drive and transmission control system of claim 3, characterized by: The first electric motor / generator and the second electric motor / generator each have two output shafts, one output shaft of the first electric motor / generator is connected with the rear axle coupling, the other output shaft of the first electric motor / generator is connected with the rear axle walking hydraulic pump / motor, one output shaft of the second electric motor / generator is connected with the front axle coupling, and the other output shaft of the second electric motor / generator is connected with the front axle walking hydraulic pump / motor.

8. The electric drive non-road mobile work machine drive and transmission control system of claim 2, characterized by: The control valve is one, and one control valve is arranged at the total inlet of the hydraulic pump / motor of the first hydraulic mechanical cylinder, the hydraulic pump / motor of the second hydraulic mechanical cylinder, the hydraulic pump / motor of the third hydraulic mechanical cylinder, the hydraulic pump / motor of the fourth hydraulic mechanical cylinder, the hydraulic pump / motor of the fifth hydraulic mechanical cylinder and the hydraulic pump / motor of the sixth hydraulic mechanical cylinder. The control valve is one, and one control valve is arranged at the total inlet of the hydraulic pump / motor of the first hydraulic mechanical cylinder, the hydraulic pump / motor of the second hydraulic mechanical cylinder, the hydraulic pump / motor of the third hydraulic mechanical cylinder, the hydraulic pump / motor of the fourth hydraulic mechanical cylinder, the hydraulic pump / motor of the fifth hydraulic mechanical cylinder and the hydraulic pump / motor of the sixth hydraulic mechanical cylinder.

9. The electric drive non-road mobile work machine drive and transmission control system of claim 2, characterized by: The electric motor structure is one electric motor or an electric motor group comprising two or more electric motors; The electric motor is one of a three-phase asynchronous motor, a direct current motor or a servo motor; or the electric motor is an internal combustion engine. The hydraulic pump structure is one hydraulic pump or a hydraulic pump group comprising two or more hydraulic pumps, and the hydraulic pump is one of a constant power variable pump, a constant pressure variable pump or an electric proportional variable displacement pump.

10. The electric drive non-road mobile work machine drive and transmission control system of claim 2, characterized by: The first energy storage structure, the second energy storage structure and the third energy storage structure are super capacitor groups or power battery groups. The accumulator structure is one accumulator or an accumulator group comprising two or more accumulators, and the accumulator is a piston type accumulator or an air bag type accumulator.

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