Power supply system and control method of towed electric excavator and towed electric excavator

Abstract

The present invention discloses a power supply system and control method for a towed electric excavator, and the towed electric excavator. The power supply system includes: a unit power supply assembly, a first cable, a second cable, a sliding contact power supply assembly, and a sliding assembly. The unit power supply assembly includes: an electric slip ring and an electrical cabinet, with the second cable connecting the bottom of the electric slip ring to the electrical cabinet. The sliding contact power supply assembly includes: a busbar and a sliding contact control device, which slides on the busbar. The sliding contact control device is connected to the top of the slip ring via a first cable. The sliding assembly includes: a pulley track, a pulley, and a pulley control device. The pulley track is connected to the sliding contact control device and moves in the X direction along the busbar under the drive of the sliding contact control device. The first cable is mounted on the pulley track via a pulley and moves in the Y direction along the pulley track under the drive of the pulley control device. The present invention can meet the requirements of the operating range and improve the mobility and maneuverability of the towed electric excavator.

Description

Technical Field

[0001] The present invention relates to a power supply system and a control method of a towed electric excavator and the towed electric excavator, belonging to the technical field of towed electric excavator control. Background Art

[0002] With the rapid development of electric construction machinery technology and increasing environmental pressure, towed electric excavators represent an intermediate stage between traditional diesel excavators and pure electric excavators. These excavators offer energy-saving and environmentally friendly advantages, are affordable, better meet market demand, and have significant potential for development in certain application scenarios. However, due to their power supply methods, towed electric excavators suffer from limited mobility and maneuverability, leading to customer dissatisfaction. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a power supply system, control method and towed electric excavator, which can meet the requirements of the operating range and improve the flexibility and maneuverability of the towed electric excavator. To achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0004] In a first aspect, the present invention provides a power supply system for a towed electric excavator, comprising: a unit power supply component, a first cable, a second cable, a sliding contact power supply component, and a sliding component;

[0005] The power supply assembly of the unit includes: an electric slip ring provided on the top of the towed electric excavator, and an electrical cabinet provided inside the towed electric excavator, and the second cable connects the bottom of the electric slip ring and the electrical cabinet;

[0006] The sliding contact power supply assembly includes: a sliding contact line, a sliding contact control device electrically connected to the sliding contact line, and the sliding contact control device slides on the sliding contact line; the sliding contact control device is connected to the top of the electric slip ring through a first cable to realize power supply for the entire vehicle;

[0007] The sliding assembly includes: a pulley track, a pulley and a pulley control device. The pulley track is connected to the sliding contact control device and moves in the X direction along the sliding contact line under the drive of the sliding contact control device; the first cable is hung on the pulley track through the pulley and is electrically connected to the pulley control device. The first cable moves in the Y direction along the pulley track under the drive of the pulley control device.

[0008] In combination with the first aspect, optionally, a fixed bracket is further connected to the top of the towed electric excavator, the shell of the electric slip ring is connected to the fixed bracket, and a bearing is provided in the fixed bracket. When the towed electric excavator rotates, the second cable and the towed electric excavator are kept relatively stationary through the bearing.

[0009] In combination with the first aspect, optionally, a collection component and a control component are further included:

[0010] The acquisition component is used to obtain position signals of the sliding contact control device and the pulley control device;

[0011] The control component includes:

[0012] A receiver is provided inside the electric excavator, the receiver is in communication with the acquisition component to obtain the signal collected by the acquisition component; the receiver is in communication with the sliding contact control device and the pulley control device to send control instructions;

[0013] A vehicle controller is arranged inside the towed electric excavator and is communicatively connected to the receiver, and is used to obtain the speed signal of the towed electric excavator and control the speed of the towed electric excavator.

[0014] In combination with the first aspect, optionally, the acquisition component includes:

[0015] X-direction millimeter-wave radars provided at both ends of the busbar in the X direction are used to obtain position signals of the busbar control device from both ends of the busbar;

[0016] X-direction travel switches provided at both ends of the sliding contact control device in the X direction are used to obtain the direction signal of the sliding contact control device;

[0017] Y-direction millimeter-wave radars provided at both ends of the pulley track in the Y direction, for obtaining position signals of the pulley control device from both ends of the pulley track;

[0018] The Y-direction travel switches provided at both ends of the pulley control device in the Y direction are used to obtain the direction signal of the operation of the pulley control device.

[0019] In a second aspect, the present invention provides a control method for a towed electric excavator, including a remote control mode, wherein the control component further includes a remote controller, the remote controller is communicatively connected to the receiver, and the remote control mode is:

[0020] The receiver obtains the control signal transmitted by the remote controller and sends the operation instruction to the sliding control device and the pulley control device;

[0021] Obtaining position signals of the sliding contact control device and the pulley control device;

[0022] In response to the distance between the trolley control device and the trolley line port or the distance between the pulley control device and the pulley track port being less than the safety distance, sending a deceleration instruction to the vehicle controller and sending a deceleration instruction to the trolley control device and the pulley control device;

[0023] In response to the distance from the trolley control device to the trolley line port or the distance from the pulley control device to the pulley rail port reaching the parking distance, a parking instruction is sent to the vehicle controller and a stop instruction is sent to the trolley control device and the pulley control device.

[0024] In conjunction with the second aspect, optionally, an automatic following mode is further included, wherein the automatic following mode is:

[0025] The receiver obtains the vehicle speed signal of the towed electric excavator and the position signals of the sliding contact control device and the pulley control device, sends a vehicle driving instruction to the vehicle controller, and sends an operation instruction to the sliding contact control device and the pulley control device;

[0026] Obtaining position signals of the sliding contact control device and the pulley control device;

[0027] In response to the distance between the trolley control device and the trolley line port or the distance between the pulley control device and the pulley track port being less than the safety distance, sending a deceleration instruction to the vehicle controller and sending a deceleration instruction to the trolley control device and the pulley control device;

[0028] In response to the distance from the trolley control device to the trolley line port or the distance from the pulley control device to the pulley rail port reaching the parking distance, a parking instruction is sent to the vehicle controller and a stop instruction is sent to the trolley control device and the pulley control device.

[0029] In conjunction with the second aspect, optionally, the deceleration instruction includes:

[0030] First-level deceleration protection: When the distance H1 from the sliding contact control device / pulley control device to either end is less than 10m, the driving speed of the towed excavator is limited to the first driving speed V2, V2 = V1 × 0.7, where V1 is the initial driving speed;

[0031] Second-level deceleration protection: When the distance H2 from the sliding contact control device / pulley control device to either end is detected to be less than 5m, the driving speed of the towed excavator is limited to the second driving speed V3, V3=V2×0.3.

[0032] In a third aspect, the present invention provides a towed electric excavator, comprising the towed electric excavator power supply system described in the first aspect, and controlled by the towed electric excavator control method described in the second aspect.

[0033] Compared with the prior art, the power supply system, control method, and towed electric excavator provided by the embodiments of the present invention have the following beneficial effects:

[0034] The present invention provides a power supply system for a towed electric excavator, comprising: a unit power supply assembly, a first cable, a second cable, a sliding contact power supply assembly, and a sliding assembly; the unit power supply assembly comprises: an electric slip ring provided on the top of the towed electric excavator, and an electrical cabinet provided inside the towed electric excavator, wherein the second cable connects the bottom of the electric slip ring to the electrical cabinet; the sliding contact power supply assembly comprises: a busbar, and a sliding contact control device electrically connected to the busbar, wherein the sliding contact control device slides on the busbar; the sliding contact control device is connected to the top of the electric slip ring via a first cable to realize power supply to the entire vehicle; the present invention adopts a busbar power supply system, shortens the cable length, and reduces the complexity of the power supply system; the electric slip ring provided in the present invention prevents cable entanglement when the towed electric excavator rotates;

[0035] The present invention provides a sliding assembly of a power supply system for a towed electric excavator, comprising: a pulley track, a pulley, and a pulley control device. The pulley track is connected to the sliding contact control device and moves along the sliding contact line in the X direction under the drive of the sliding contact control device; the first cable is mounted on the pulley track via the pulley and electrically connected to the pulley control device. The first cable moves along the pulley track in the Y direction under the drive of the pulley control device. The present invention uses the sliding contact control device and the pulley control device to follow the movement of the vehicle in the X and Y directions.

[0036] The control method of the towed electric excavator provided by the present invention includes a remote control mode and an automatic following mode; the present invention can ensure real-time matching of the moving speed and the vehicle's walking speed, thereby ensuring both the flexibility of the vehicle's walking and its spatial passability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a top view of the structure of a power supply system for a towed electric excavator in Example 1 of the present invention;

[0038] Figure 2 This is a structural side view of a power supply system for a towed electric excavator in Example 1 of the present invention;

[0039] Figure 3 This is a schematic diagram of a Y-direction travel switch in a power supply system of a towed electric excavator in Example 1 of the present invention;

[0040] Figure 4 This is a schematic diagram of an X-direction travel switch in a power supply system of a towed electric excavator in Example 1 of the present invention;

[0041] Figure 5 This is a schematic diagram of an electric slip ring in a power supply system of a towed electric excavator in Example 1 of the present invention;

[0042] Figure 6 This is an electrical diagram of a power supply system for a towed electric excavator in Example 1 of the present invention;

[0043] Figure 7 This is a flow chart of a control method for a towed electric excavator in Example 1 of the present invention.

[0044] In the figure: 1. Busbar; 2. Busbar control device; 3. First cable; 4. Pulley; 5. Pulley track; 6. Pulley control device; 7. Bearing; 8. Electric slip ring; 9. Fixed bracket; 10. Second cable; 11. Electrical cabinet; 12. Vehicle controller; 13. X-axis millimeter-wave radar; 14. X-axis limit switch; 15. Y-axis millimeter-wave radar; 16. Y-axis limit switch. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0046] Example 1

[0047] This embodiment provides a power supply system for a towed electric excavator, including: a unit power supply component, a first cable 3, a second cable 10, a sliding contact power supply component, a sliding component, a collection component and a control component.

[0048] The power supply assembly of the unit includes: an electric slip ring 8 arranged on the top of the towed electric excavator, an electrical cabinet 11 arranged inside the towed electric excavator, and a second cable 10 connecting the bottom of the electric slip ring 8 and the electrical cabinet 11.

[0049] like Figure 5 As shown, a fixed bracket 9 is also connected to the top of the towed excavator. The outer shell of an electric slip ring 8 is connected to the fixed bracket 9. A bearing 7 is installed inside the fixed bracket 9. The bearing 7 contains a variable diameter assembly for clamping a second cable 10. When the towed excavator rotates, the second cable 10 and the towed excavator are kept stationary relative to each other via the bearing 7. The provision of the electric slip ring 8 and the bearing 7 prevents the second cable 10 from becoming entangled when the towed excavator rotates.

[0050] like Figure 1 、 Figure 2 As shown, the trolley power supply assembly includes: a trolley line 1 and a trolley control device 2 electrically connected to the trolley line 1. The trolley control device 2 slides on the trolley line 1 and is connected to the top of the electric slip ring 8 via a first cable 3 to provide power to the entire vehicle.

[0051] like Figure 1 、 Figure 2As shown, the sliding assembly includes a pulley track 5, a pulley 4, and a pulley control device 6. The pulley track 5 is connected to the trolley control device 2 and is driven by the trolley control device 2 to move in the X direction along the trolley line 1. The first cable 3 is mounted on the pulley track 5 via the pulley 4 and is electrically connected to the pulley control device 6. The first cable 3 is driven by the pulley control device 6 to move in the Y direction along the pulley track 5.

[0052] The acquisition component is used to obtain position signals of the sliding contact control device 2 and the pulley control device 6. The acquisition component includes: an X-direction millimeter wave radar 13, an X-direction limit switch 14, a Y-direction millimeter wave radar 15, and a Y-direction limit switch 16.

[0053] X-direction millimeter wave radar 13 is set at both ends of the busbar in X direction, and is used to obtain the position signal of the busbar control device 2 from both ends of the busbar 1. Figure 4 As shown, the X-direction travel switches 14 are provided at both ends of the sliding contact control device in the X direction, and are used to obtain the direction signal of the sliding contact control device 2 .

[0054] Y-direction millimeter wave radar 15 is provided at both ends of the pulley track in the Y direction, and is used to obtain the position signal of the pulley control device 6 from both ends of the pulley track 5. Figure 3 As shown, the Y-direction travel switches 16 are provided at both ends of the pulley control device in the Y direction, and are used to obtain the direction signal of the pulley control device 6 .

[0055] The control component includes a receiver and a vehicle controller 12. The receiver is located within the towed excavator and is in communication with the acquisition component to acquire signals collected by the acquisition component. The receiver is in communication with the sliding contact control device 2 and the pulley control device 6 to send control commands. The vehicle controller 12 is located within the towed excavator and is in communication with the receiver. It is configured to acquire the towed excavator's speed signal and transmit it to the receiver, controlling the towed excavator's speed based on the control commands sent by the receiver.

[0056] like Figure 6As shown, the power supply system of the towed excavator has four power supply circuits. Industrial three-phase 380V AC power is connected to the busbar 1 through a molded case circuit breaker QS, and then to the busbar control device 2. The main power supply circuit connects from QS to circuit breaker 1QF, then to a slip ring, and then to the electrical cabinet 11 to power the main motor M0, providing power output for the entire vehicle. The second power supply circuit connects to the busbar control device 2 through circuit breaker 2QF, powering the busbar control device 2. Circuit breaker 2QF is connected to the frequency converter 1, whose output controls motor M1. Inverter 1 uses the X-direction limit switch 14 to control the direction of motor M1, achieving X-direction movement control. The third power supply circuit connects to the pulley control device 6 through circuit breaker 3QF, powering the busbar control device 2. Circuit breaker 3QF is connected to the frequency converter 2, whose output controls motor M2. Inverter 2 uses the Y-direction limit switch 16 to control the direction of motor M2, achieving Y-direction movement control. The fourth power supply circuit is connected to transformer T1 via circuit breaker 4QF. Transformer T1 outputs 24V DC to power the receiver. The receiver communicates with vehicle controller 12, X-axis millimeter-wave radar 13, and Y-axis millimeter-wave radar 15 via the CAN bus. Simultaneously, receiver analog output AO1 controls the speed of motor M1, and receiver analog output AO2 controls the speed of motor M2, enabling real-time speed adjustment based on vehicle speed. The receiver collects position information from X-axis millimeter-wave radar 13, X-axis limit switch 14, Y-axis millimeter-wave radar 15, and Y-axis limit switch 16 for safety control.

[0057] This embodiment adopts the power supply system of the trolley line 1, shortens the length of the cable, and reduces the complexity of the power supply system. This embodiment can follow the movement of the vehicle in the X and Y directions through the trolley control device 2 and the pulley control device 6.

[0058] Example 2

[0059] like Figure 7 As shown, this embodiment provides a control method for a towed electric excavator, including: a remote control mode and an automatic following mode.

[0060] In the remote control mode, the control component also includes a remote controller, which is an active setting. The remote controller and the receiver are in communication connection, and the remote control mode is:

[0061] The receiver obtains the control signal transmitted by the remote controller and sends an operation instruction to the sliding touch control device 2 and the pulley control device 6;

[0062] Obtaining position signals of the sliding contact control device 2 and the pulley control device 6;

[0063] In response to the distance between the trolley control device 2 and the port of the trolley line 1 or the distance between the pulley control device 6 and the port of the pulley track 5 being less than the safe distance, a deceleration instruction is sent to the vehicle controller 12 and a deceleration instruction is sent to the trolley control device 2 and the pulley control device 6;

[0064] In response to the distance from the trolley control device 2 to the port of the trolley line 1 or the distance from the pulley control device 6 to the port of the pulley track 5 reaching the parking distance, a parking command is sent to the vehicle controller 12 and a stop command is sent to the trolley control device 2 and the pulley control device 6.

[0065] The automatic follow modes are:

[0066] The receiver obtains the vehicle speed signal of the towed electric excavator and the position signals of the sliding contact control device 2 and the pulley control device 6, sends a vehicle driving instruction to the vehicle controller 12, and sends an operation instruction to the sliding contact control device 2 and the pulley control device 6;

[0067] Obtaining position signals of the sliding contact control device 2 and the pulley control device 6;

[0068] In response to the distance between the trolley control device 2 and the port of the trolley line 1 or the distance between the pulley control device 6 and the port of the pulley track 5 being less than the safe distance, a deceleration instruction is sent to the vehicle controller 12 and a deceleration instruction is sent to the trolley control device 2 and the pulley control device 6;

[0069] In response to the distance from the trolley control device 2 to the port of the trolley line 1 or the distance from the pulley control device 6 to the port of the pulley track 5 reaching the parking distance, a parking command is sent to the vehicle controller 12 and a stop command is sent to the trolley control device 2 and the pulley control device 6.

[0070] Specifically, the deceleration instructions include:

[0071] First-level deceleration protection: When the distance H1 between the sliding contact control device 2 / pulley control device 6 and either end is detected to be less than 10m, the driving speed of the towed excavator is limited to the first driving speed V2, V2 = V1 × 0.7, where V1 is the initial driving speed;

[0072] Second-level deceleration protection: When the distance H2 from the sliding contact control device 2 / pulley control device 6 to either end is detected to be less than 5m, the driving speed of the towed excavator is limited to the second driving speed V3, V3=V2×0.3.

[0073] Specifically, sending a stop instruction to the sliding contact control device 2 and the pulley control device 6 includes:

[0074] If the X-axis travel switch 14 detects that the sliding control device 2 is running, a stop command is sent to the sliding control device 2. If the X-axis travel switch 14 does not detect that the sliding control device 2 is running, there is no need to send a stop command to the sliding control device 2.

[0075] If the Y-axis travel switch 16 detects that the pulley control device 6 is operating, a stop command is sent to the pulley control device 6 . If the Y-axis travel switch 16 does not detect that the pulley control device 6 is operating, there is no need to send a stop command to the pulley control device 6 .

[0076] The control method of the towed electric excavator provided in this embodiment includes a remote control mode and an automatic following mode; it can ensure that the moving speed and the vehicle walking speed are matched in real time, thereby ensuring both the flexibility of the vehicle's walking and the spatial passability.

[0077] Example 3

[0078] This embodiment provides a towed electric excavator, including the towed electric excavator power supply system described in Example 1, and controlled by the towed electric excavator control method described in Example 2.

[0079] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A power supply system for a towed electric excavator, characterized in that: include: The unit power supply assembly, the first cable, the second cable, the sliding contact power supply assembly, and the sliding assembly; The power supply assembly of the unit includes: an electric slip ring provided on the top of the towed electric excavator, and an electrical cabinet provided inside the towed electric excavator, and the second cable connects the bottom of the electric slip ring and the electrical cabinet; The sliding contact power supply assembly includes: a sliding contact line, a sliding contact control device electrically connected to the sliding contact line, and the sliding contact control device slides on the sliding contact line; the sliding contact control device is connected to the top of the electric slip ring through a first cable to realize power supply for the entire vehicle; The sliding assembly includes: a pulley track, a pulley and a pulley control device. The pulley track is connected to the sliding contact control device and moves in the X direction along the sliding contact line under the drive of the sliding contact control device; the first cable is hung on the pulley track through the pulley and is electrically connected to the pulley control device. The first cable moves in the Y direction along the pulley track under the drive of the pulley control device.

2. The power supply system for a towed electric excavator according to claim 1, characterized in that: The top of the towed electric excavator is also connected to a fixed bracket, the shell of the electric slip ring is connected to the fixed bracket, and a bearing is provided in the fixed bracket. When the towed electric excavator rotates, the second cable and the towed electric excavator are kept relatively stationary through the bearing.

3. The power supply system for a towed electric excavator according to claim 1, characterized in that: It also includes acquisition components and control components: The acquisition component is used to obtain position signals of the sliding contact control device and the pulley control device; The control component includes: a receiver provided inside the electric excavator, the receiver being in communication with the acquisition component to obtain the signal collected by the acquisition component; the receiver being in communication with the sliding contact control device and the pulley control device to send control instructions; A vehicle controller is arranged inside the towed electric excavator and is communicatively connected to the receiver, and is used to obtain the speed signal of the towed electric excavator and control the speed of the towed electric excavator.

4. The power supply system for a towed electric excavator according to claim 3, characterized in that: The acquisition component includes: X-direction millimeter-wave radars provided at both ends of the busbar in the X direction are used to obtain position signals of the busbar control device from both ends of the busbar; X-direction travel switches provided at both ends of the sliding contact control device in the X direction are used to obtain the direction signal of the sliding contact control device; Y-direction millimeter-wave radars provided at both ends of the pulley track in the Y direction, for obtaining position signals of the pulley control device from both ends of the pulley track; The Y-direction travel switches provided at both ends of the pulley control device in the Y direction are used to obtain the direction signal of the operation of the pulley control device.

5. A control method for a towed electric excavator, characterized in that: Including a remote control mode, in which the control component also includes a remote controller, and the remote controller is communicatively connected to the receiver, and the remote control mode is: The receiver obtains the control signal transmitted by the remote controller and sends the operation instruction to the sliding control device and the pulley control device; Obtaining position signals of the sliding contact control device and the pulley control device; In response to the distance from the trolley control device to the trolley line port or the distance from the pulley control device to the pulley track port Small At Safety distance, sending deceleration instructions to the vehicle controller, sending deceleration instructions to the sliding contact control device and the pulley control device; In response to the distance from the trolley control device to the trolley line port or the distance from the pulley control device to the pulley rail port reaching the parking distance, a parking instruction is sent to the vehicle controller and a stop instruction is sent to the trolley control device and the pulley control device.

6. The control method of the towed electric excavator according to claim 5, characterized in that: Also included is an automatic follow mode, which is: The receiver obtains the vehicle speed signal of the towed electric excavator and the position signals of the sliding contact control device and the pulley control device, sends a vehicle driving instruction to the vehicle controller, and sends an operation instruction to the sliding contact control device and the pulley control device; Obtaining position signals of the sliding contact control device and the pulley control device; In response to the distance between the trolley control device and the trolley line port or the distance between the pulley control device and the pulley track port being less than the safety distance, sending a deceleration instruction to the vehicle controller and sending a deceleration instruction to the trolley control device and the pulley control device; In response to the distance from the trolley control device to the trolley line port or the distance from the pulley control device to the pulley rail port reaching the parking distance, a parking instruction is sent to the vehicle controller and a stop instruction is sent to the trolley control device and the pulley control device.

7. The control method of a towed electric excavator according to claim 5 or 6, characterized in that: The deceleration instruction includes: First-level deceleration protection: When the distance H1 from the sliding contact control device / pulley control device to either end is less than 10m, the driving speed of the towed excavator is limited to the first driving speed V2, V2 = V1 × 0.7, where V1 is the initial driving speed; Second-level deceleration protection: When the distance H2 from the sliding contact control device / pulley control device to either end is detected to be less than 5m, the driving speed of the towed excavator is limited to the second driving speed V3, V3=V2×0.

3.

8. A towed electric excavator, characterized in that: The invention comprises a power supply system for a towed electric excavator according to any one of claims 1 to 4, and is controlled by a control method for a towed electric excavator according to any one of claims 5 to 7.

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