Walking and lifting integrated electric driving system

Abstract

The invention relates to a walking and lifting integrated electric driving system which comprises a cooling liquid circulation assembly, a cooling assembly and two sets of bottom blocking boxes, the tops of the two sets of bottom blocking boxes are connected with a top blocking box, motors are installed in the bottom blocking boxes, and a motor driving control system is installed in the top blocking box. A motor driving control system used for controlling the motor is installed in the top blocking box, a first heat conduction part is connected to the outer side of the motor in a surrounding mode, a second heat conduction part is connected to the outer side of the top blocking box in a surrounding mode, and the cooling liquid circulation assembly comprises an injection pump body, a liquid storage box filled with cooling liquid and a pipeline part. The cooling assembly comprises a fan arranged on the outer side of the bottom blocking box and a cooling pipeline piece, and the pump body is used for driving cooling liquid to circularly flow among the liquid storage box, the first heat conduction part, the second heat conduction part and the cooling pipeline piece. According to the invention, multiple integrated heat dissipation can be carried out on the motor and the motor driving control system during operation, and the heat dissipation effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to an integrated walking and lifting electric drive system. Background Art

[0002] The walking and lifting electric drive system is mainly used in scenarios such as electric forklifts, electric cranes, and certain engineering machinery equipment with material handling and self-moving functions. It is generally used for traction motors to realize the walking and moving functions of the equipment, and lifting motors responsible for completing operational functions such as cargo lifting and crane arm lifting. The new energy engineering machinery vehicle drive system includes: drive motor and control system, battery and management system.

[0003] The drive motor and control system of the existing drive system are usually designed independently and installed separately. They have disadvantages such as large size, low system efficiency, and weak anti-interference ability. This is not conducive to further improving the power density and reliability of the electric drive system. Therefore, some existing technologies adopt an "integrated" design of the traction motor, working motor and electric drive control system to reduce the loss in energy conversion and improve the efficiency of the whole vehicle.

[0004] However, in the "integrated" design, most of the heat dissipation methods are to set up independent heat dissipation means for each component. For example, the traction motor is equipped with a separate air-cooled radiator, the working motor adopts natural cooling or simple heat dissipation fins for heat dissipation, and the electric drive control system relies on its own small cooling fan, etc. This decentralized heat dissipation has many problems, such as each heat dissipation system is independent, the overall heat dissipation efficiency is not high, and it is difficult to meet the heat dissipation needs of multiple components with high loads under complex working conditions. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides an integrated electric drive system for walking and lifting, and the specific technical solution is as follows:

[0006] The integrated electric drive system for walking and lifting includes a coolant circulation component, a cooling component and two groups of bottom barrier boxes, the tops of the two groups of bottom barrier boxes are connected to top barrier boxes, a motor is installed inside the bottom barrier boxes, a motor drive control system is installed inside the top barrier boxes, a motor drive control system for controlling the motor is installed inside the top barrier boxes, a first heat conducting part is connected around the outside of the motor, and a second heat conducting part is connected around the outside of the top barrier boxes, the coolant circulation component includes an injection pump body, a liquid storage tank injected with coolant and a pipeline part, the cooling component includes a fan and a cooling pipeline part arranged on the outside of the bottom barrier box, the blowing direction of the fan is aligned with the cooling pipeline part, the pipeline part is used to connect the liquid storage tank, the pump body, the first heat conducting part, the second heat conducting part and the cooling pipeline part, and the pump body is used to drive the coolant to circulate among the liquid storage tank, the first heat conducting part, the second heat conducting part and the cooling pipeline part.

[0007] As an improvement of the above technical solution: the first heat-conducting part includes a plurality of first heat-conducting connecting tubes arranged on the outside of the motor, and the plurality of first heat-conducting connecting tubes are connected through pipes; the second heat-conducting part includes a plurality of second heat-conducting connecting tubes arranged on the outside of the motor drive control system, and the second heat-conducting connecting tubes are connected through pipes; the pipe part includes a first liquid pipe, a second liquid pipe, a third liquid pipe and a fourth liquid pipe; and the cooling pipe part includes a cooling pipe.

[0008] As an improvement of the above technical solution: the input end of the pump body is connected to the interior of the liquid storage tank through a pipeline, one end of the first liquid pipe is connected to the output end of the pump body, the other end of the first liquid pipe passes through the bottom barrier box and is connected to the first heat-conducting connecting pipe at the head end of one of the motors, one end of the third liquid pipe is connected to the first heat-conducting connecting pipe at the tail end of the motor, the other end of the third liquid pipe is connected to the first heat-conducting connecting pipe at the head end of another motor, one end of the fourth liquid pipe is connected to the first heat-conducting connecting pipe at the tail end of the motor, the other end of the fourth liquid pipe is connected to the second heat-conducting connecting pipe at the head end of the motor drive control system, one end of the second liquid pipe is connected to the second heat-conducting connecting pipe at the tail end of the motor drive control system, the other end of the second liquid pipe is connected to the head end of the cooling and cooling pipe, and the tail end of the cooling and cooling pipe is connected to the interior of the liquid storage tank.

[0009] As an improvement of the above technical solution: the motor is connected to an output shaft, the output shaft is connected to an annular rotating block through a connecting piece, a plurality of fan blades are fixedly connected to the outer side of the annular rotating block, the inner cavity of the bottom barrier box and the inner cavity of the top barrier box are connected through a ventilation pipe, the back side of the bottom barrier box is installed with a first filter screen plate, the front side of the bottom barrier box is installed with a third filter screen plate, one end of the output shaft passes through the third filter screen plate and extends to the outside of the bottom barrier box, and the back of the top barrier box is connected with a second filter screen plate.

[0010] As an improvement of the above technical solution: the cooling and cooling pipe is arranged in a wave shape, and part of the cooling and cooling pipe is aligned with the first filter plate and / or the second filter plate, and a heat exchanger for cooling the coolant inside the liquid storage tank is installed on the liquid storage tank.

[0011] As an improvement of the above technical solution: the inner side of the first heat-conducting connecting tube is adapted to the outer side of the motor, the outer side of the first heat-conducting connecting tube is circular, the connecting piece is connected to an annular mounting block, a plurality of semiconductor refrigeration plates are installed on the annular mounting block, the cooling end of the semiconductor refrigeration plate extends to the inner side of the annular mounting block and is connected to a silicone heat-conducting block, the heating end of the semiconductor refrigeration plate extends to the outer side of the annular mounting block, the silicone heat-conducting block is arc-shaped and contacts the outer side of the first heat-conducting connecting tube.

[0012] As an improvement of the above technical solution: the connecting member is a planetary gear part, the planetary gear part is connected to the output shaft, and the planetary gear part is connected to the annular rotating block on the same axis.

[0013] As an improvement of the above technical solution: the connecting member includes an annular connecting inner block, a connecting rod and an annular connecting outer block, the annular connecting inner block is connected to the output shaft, the annular connecting inner block is connected to the annular connecting outer block through the connecting rod, and the annular connecting outer block is connected to the annular rotating block on the same axis.

[0014] Beneficial effects of the present invention:

[0015] 1. When the motor is running for a long time, a large amount of heat will be generated on the motor and the motor drive control system. Part of the heat on the motor and the motor drive control system is absorbed by the first heat-conducting connecting tube and the second heat-conducting connecting tube respectively. At the same time, the pump body is started to drive the coolant to continuously circulate on the cooling and cooling tube and the first heat-conducting connecting tube through the pump body, so that the coolant can absorb part of the heat on the first heat-conducting connecting tube and the second heat-conducting connecting tube, thereby achieving a certain heat dissipation effect on the motor and the motor drive control system;

[0016] 2. At the same time, when the motor is running, it will drive the output shaft to rotate, and through the connecting piece, it will drive the annular rotating block and the fan blades to rotate, so that air can circulate inside the bottom barrier box. On the one hand, the air can flow from the front side of the bottom barrier box to the inside of the bottom barrier box and then flow out from the rear side of the bottom barrier box, so as to effectively dissipate the heat inside the bottom barrier box. On the other hand, the air inside the bottom barrier box can flow from the ventilation pipe to the inside of the top barrier box, and then the heat inside the top barrier box will flow out from the second filter plate, so as to further dissipate the heat of the motor inside the bottom barrier box and the motor drive control system in the top barrier box;

[0017] 3. By running multiple semiconductor refrigeration plates at the same time, on the one hand, the annular rotating block on the connecting piece is driven to rotate through the output shaft, so that the annular mounting block connected to the annular rotating block rotates synchronously, so that the cooling end of the semiconductor refrigeration plate is in contact with the outer side of the first thermally conductive connecting tube through the silicone heat conductive block, and can absorb the heat on the first thermally conductive connecting tube. On the other hand, the cooling end of the semiconductor refrigeration plate can absorb the internal heat of the motor during rotation, thereby enhancing the heat dissipation effect of the motor. Through this application, multiple integrated heat dissipation can be performed on the motor and the motor drive control system during operation, with good heat dissipation effect, which can meet the heat dissipation needs of multiple components with high load heating at the same time under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the internal front view structure of the whole present invention;

[0020] Figure 3 It is a rear view structural schematic diagram of the whole present invention;

[0021] Figure 4 It is a structural schematic diagram of a connecting member in one embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure between the annular mounting block and the first heat-conducting connecting tube in the present invention.

[0023] Figure numerals: 1, bottom barrier box; 101, first filter screen; 2, top barrier box; 201, second filter screen; 3, motor; 31, output shaft; 4, planetary gear unit; 5, annular rotating block; 51, fan blades; 6, motor drive control system; 61, second heat-conducting connecting pipe; 7, ventilation pipe; 8, liquid storage tank; 9, pump body; 10, first liquid-conducting pipe; 11, second liquid-conducting pipe; 12, third liquid-conducting pipe; 13, fourth liquid-conducting pipe; 14, third filter screen; 15, annular connecting inner block; 151, connecting rod; 152, annular connecting outer block; 16, annular mounting block; 17, semiconductor refrigeration plate; 171, silicone heat-conducting block; 18, first heat-conducting connecting pipe; 19, cooling pipe; 20, fan. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] Example

[0026] Please refer to Figure 1-Figure 5 The walking and lifting integrated electric drive system includes a coolant circulation component, a cooling component and two groups of bottom baffle boxes 1. The tops of the two groups of bottom baffle boxes 1 are connected to top baffle boxes 2. A motor 3 is installed inside the bottom baffle box 1. A motor drive control system 6 is installed inside the top baffle box 2. A motor drive control system 6 for controlling the motor 3 is installed inside the top baffle box 2. A first heat conduction part is connected around the outside of the motor 3. A second heat conduction part is connected around the outside of the top baffle box 2. The coolant circulation component includes an injection pump body 9. , a liquid storage tank 8 and a pipeline part injected with coolant, the cooling component includes a fan and a cooling pipeline part arranged on the outside of the bottom barrier box 1, the blowing direction of the fan is aimed at the cooling pipeline part, the pipeline part is used to connect the liquid storage tank 8, the pump body 9, the first heat conducting part, the second heat conducting part and the cooling pipeline part, the pump body 9 is used to drive the coolant to circulate among the liquid storage tank 8, the first heat conducting part, the second heat conducting part, the pipeline part and the cooling pipeline part, and the two isolated bottom barrier boxes 1 can avoid the mutual influence of the magnetic fields on the two bottom barrier boxes 1.

[0027] In an optional embodiment: the first heat-conducting part includes a plurality of first heat-conducting connecting tubes 18 arranged on the outside of the motor 3, and the plurality of first heat-conducting connecting tubes 18 are connected to each other through pipes; the second heat-conducting part includes a plurality of second heat-conducting connecting tubes 61 arranged on the outside of the motor drive control system 6, and the second heat-conducting connecting tubes 61 are connected to each other through pipes; the pipe part includes a first liquid pipe 10, a second liquid pipe 11, a third liquid pipe 12 and a fourth liquid pipe 13; and the cooling pipe part includes a cooling pipe 19.

[0028] In an optional embodiment: the input end of the pump body 9 is connected to the interior of the liquid storage tank 8 through a pipeline, one end of the first liquid pipe 10 is connected to the output end of the pump body 9, the other end of the first liquid pipe 10 passes through the bottom barrier box 1 and is connected to the first heat-conducting connecting pipe 18 at the head end of one of the motors 3, one end of the third liquid pipe 12 is connected to the first heat-conducting connecting pipe 18 at the tail end of the motor 3, the other end of the third liquid pipe 12 is connected to the first heat-conducting connecting pipe 18 at the head end of the other motor 3, one end of the fourth liquid pipe 13 is connected to the first heat-conducting connecting pipe 18 at the tail end of the motor 3, the other end of the fourth liquid pipe 13 is connected to the second heat-conducting connecting pipe 61 at the head end of the motor drive control system 6, one end of the second liquid pipe 11 is connected to the second heat-conducting connecting pipe 61 at the tail end of the motor drive control system 6, the other end of the second liquid pipe 11 is connected to the head end of the cooling and cooling pipe 19, and the tail end of the cooling and cooling pipe 19 is connected to the interior of the liquid storage tank 8.

[0029] In an optional embodiment: the motor 3 is connected to an output shaft 31, the output shaft 31 is connected to an annular rotating block 5 through a connecting piece, a plurality of fan blades 51 are fixedly connected to the outer side of the annular rotating block 5, the inner cavity of the bottom barrier box 1 and the inner cavity of the top barrier box 2 are connected through a ventilation pipe 7, a first filter screen plate 101 is installed and connected to the back of the bottom barrier box 1, a third filter screen plate 14 is installed on the front of the bottom barrier box 1, one end of the output shaft 31 passes through the third filter screen plate 14 and extends to the outer side of the bottom barrier box, and a second filter screen plate 201 is connected to the back of the top barrier box 2. When the running motor 3 rotates, it drives the output shaft 31 to rotate, so that the multiple blades 51 on the annular rotating block 5 rotate, so that the air can circulate inside the bottom barrier box 1. On the one hand, the air can flow from the front side of the bottom barrier box 1 to the inside of the bottom barrier box 1 and then flow out from the back side of the bottom barrier box 1 to effectively dissipate the heat inside the bottom barrier box 1. On the other hand, the air inside the bottom barrier box 1 can flow from the ventilation pipe 7 to the inside of the top barrier box 2, and then the heat inside the top barrier box 2 flows out from the second filter screen 201 to effectively dissipate the heat. The first filter screen 101 and the second filter screen 201 can prevent external impurities and dust from entering the inside of the bottom barrier box 1 and the top barrier box 2 while ventilating them respectively.

[0030] In an optional embodiment: the cooling and cooling pipe 19 is arranged in a wave shape, and a part of the cooling and cooling pipe 19 is aligned with the first filter plate 101 and / or the second filter plate 201, so that the circulating air can pass through the cooling and cooling pipe 19 to cool the first filter plate 101, so as to maintain the effective cooling of the coolant inside the first filter plate 101, and a heat exchanger for cooling the coolant inside the liquid storage tank 8 is installed on the liquid storage tank 8, so that the coolant can be further cooled, thereby maintaining the cooling and heat dissipation effect of the coolant.

[0031] In an optional embodiment: the inner side of the first heat-conducting connecting tube 18 is adapted to the outer side of the motor 3, the outer side of the first heat-conducting connecting tube 18 is circularly arranged, the connecting piece is connected to an annular mounting block 16, a plurality of semiconductor refrigeration plates 17 are installed on the annular mounting block 16, the cooling end of the semiconductor refrigeration plate 17 extends to the inner side of the annular mounting block 16 and is connected to a silicone heat-conducting block 171, the heating end of the semiconductor refrigeration plate 17 extends to the outer side of the annular mounting block 16, the silicone heat-conducting block 171 is arc-shaped and contacts the outer side of the first heat-conducting connecting tube 18, and the operation of the semiconductor refrigeration plate 17 can drive part of the heat on the first heat-conducting connecting tube 18 to absorb and dissipate heat.

[0032] In an optional embodiment: the connecting member is a planetary gear part 4, the planetary gear part 4 is connected to the output shaft 31, the planetary gear part 4 is connected to the same axis as the annular rotating block 5, when the running motor 3 drives the output shaft 31 to rotate, the annular rotating block 5 can be decelerated by the planetary gear part 4 to prevent the annular rotating block 5 from driving the connected annular mounting block 16 to rotate too fast.

[0033] In an optional embodiment: the connecting part includes an annular connecting inner block 15, a connecting rod 151 and an annular connecting outer block 152, the annular connecting inner block 15 is connected to the output shaft 31, the annular connecting inner block 15 is connected to the annular connecting outer block 152 through the connecting rod 151, and the annular connecting outer block 152 is coaxially connected to the annular rotating block 5. Specifically, the outer side surface of the first heat-conducting connecting tube 18 can be made of a composite of graphite and other materials such as metal or ceramic. The graphite in this application has a lubricating effect, and the thermal conductivity of graphite is good, which meets the use requirements.

[0034] Specifically, when the motor 3 is operated for a long time, a large amount of heat will be generated on the motor 3 and the motor drive control system 6, and part of the heat on the motor 3 and the motor drive control system 6 is absorbed by the first heat-conducting connecting tube 18 and the second heat-conducting connecting tube 61 respectively. At the same time, the pump body 9 is started, and the coolant is driven by the pump body 9 to continuously circulate on the cooling and cooling tube 19 and the first heat-conducting connecting tube 18, so that the coolant can absorb part of the heat on the first heat-conducting connecting tube 18 and the second heat-conducting connecting tube 61, thereby achieving a certain heat dissipation effect on the motor 3 and the motor drive control system 6;

[0035] At the same time, when the motor 3 is running, it will drive the output shaft 31 to rotate, and drive the annular rotating block 5 and the fan blades 51 to rotate through the connecting piece, so that air can circulate inside the bottom barrier box 1. On the one hand, the air can flow from the front side of the bottom barrier box 1 to the inside of the bottom barrier box 1 and then flow out from the rear side of the bottom barrier box 1, so as to effectively dissipate the heat inside the bottom barrier box 1. On the other hand, the air inside the bottom barrier box 1 can flow from the ventilation pipe 7 to the inside of the top barrier box 2, and then the heat of the internal part of the top barrier box 2 will flow out from the second filter plate 201, so as to further dissipate the heat of the motor 3 located inside the bottom barrier box 1 and the motor drive control system 6 in the top barrier box 2;

[0036] At the same time, by running multiple semiconductor refrigeration plates 17, on the one hand, the annular rotating block 5 on the connecting member is driven to rotate through the output shaft 31, so that the annular mounting block 16 connected to the annular rotating block 5 rotates synchronously, so that the cooling end of the semiconductor refrigeration plate 17 is in contact with the outer side of the first thermally conductive connecting tube 18 through the silicone heat conductive block 171, and can absorb the heat on the first thermally conductive connecting tube 18. On the other hand, the cooling end of the semiconductor refrigeration plate 17 can absorb the internal heat of the motor 3 during the rotation process, thereby enhancing the heat dissipation effect of the motor 3. Through this application, the motor 3 and the motor drive control system 6 during operation can be subjected to multiple integrated heat dissipation, and the heat dissipation effect is good.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The integrated electric drive system for walking and lifting is characterized by: The invention comprises a coolant circulation component, a cooling component and two groups of bottom barrier boxes (1), the tops of the two groups of bottom barrier boxes (1) are connected to top barrier boxes (2), a motor (3) is installed inside the bottom barrier boxes (1), a motor drive control system (6) is installed inside the top barrier boxes (2), a first heat conducting part is connected around the outer side of the motor (3), and a second heat conducting part is connected around the outer side of the top barrier boxes (2), the coolant circulation component comprises an injection pump body (9), a liquid storage tank (8) injected with coolant and a pipeline part, the cooling component comprises a fan (20) and a cooling pipeline part arranged on the outer side of the bottom barrier boxes (1), the pipeline part is used to connect the liquid storage tank (8), the pump body (9), the first heat conducting part, the second heat conducting part and the cooling pipeline part, and the pump body (9) is used to drive the coolant to circulate among the liquid storage tank (8), the first heat conducting part, the second heat conducting part, the pipeline part and the cooling pipeline part.

2. The walking and lifting integrated electric drive system according to claim 1 is characterized in that: The first heat-conducting part comprises a plurality of first heat-conducting connecting tubes (18) arranged on the outside of the motor (3), the plurality of first heat-conducting connecting tubes (18) being connected to each other through a pipeline; the second heat-conducting part comprises a plurality of second heat-conducting connecting tubes (61) arranged on the outside of the motor drive control system (6), the second heat-conducting connecting tubes (61) being connected to each other through a pipeline; the pipeline part comprises a first liquid passage tube (10), a second liquid passage tube (11), a third liquid passage tube (12) and a fourth liquid passage tube (13); and the cooling pipeline part comprises a cooling and temperature reduction tube (19).

3. The walking and lifting integrated electric drive system according to claim 2 is characterized in that: The input end of the pump body (9) is connected to the interior of the liquid storage tank (8) through a pipeline, one end of the first liquid-passing pipe (10) is connected to the output end of the pump body (9), the other end of the first liquid-passing pipe (10) passes through the bottom barrier box (1) and is connected to the first heat-conducting connecting pipe (18) at the head end of one of the motors (3), one end of the third liquid-passing pipe (12) is connected to the first heat-conducting connecting pipe (18) at the tail end of the motor (3), and the other end of the third liquid-passing pipe (12) is connected to the first heat-conducting connecting pipe (18) at the head end of another motor (3). The fourth liquid pipe (13) is connected to the first heat-conducting connecting pipe (18) at the tail end of the motor (3), the other end of the fourth liquid pipe (13) is connected to the second heat-conducting connecting pipe (61) at the head end of the motor drive control system (6), the one end of the second liquid pipe (11) is connected to the second heat-conducting connecting pipe (61) at the tail end of the motor drive control system (6), the other end of the second liquid pipe (11) is connected to the head end of the cooling and cooling pipe (19), and the tail end of the cooling and cooling pipe (19) is connected to the interior of the liquid storage tank (8).

4. The walking and lifting integrated electric drive system according to claim 3 is characterized in that: The motor (3) is connected to an output shaft (31), the output shaft (31) is connected to an annular rotating block (5) via a connecting piece, a plurality of fan blades (51) are fixedly connected to the outer side of the annular rotating block (5), the inner cavity of the bottom barrier box (1) and the inner cavity of the top barrier box (2) are connected via a ventilation pipe (7), a first filter screen (101) is installed and connected to the back of the bottom barrier box (1), a third filter screen (14) is installed on the front of the bottom barrier box (1), one end of the output shaft (31) passes through the third filter screen (14) and extends to the outer side of the bottom barrier box (1), and a second filter screen (201) is connected to the back of the top barrier box (2).

5. The walking and lifting integrated electric drive system according to claim 4 is characterized in that: The cooling and cooling pipe (19) is arranged in a wave shape, and a part of the cooling and cooling pipe (19) is aligned with the first filter screen plate (101) and / or the second filter screen plate (201). A heat exchanger for cooling the cooling liquid inside the liquid storage tank (8) is installed on the liquid storage tank (8).

6. The walking and lifting integrated electric drive system according to claim 5, characterized in that: The inner side of the first heat-conducting connecting tube (18) is adapted to the outer side of the motor (3); the outer side of the first heat-conducting connecting tube (18) is arranged in a circular shape; an annular mounting block (16) is connected to the connecting piece; a plurality of semiconductor refrigeration plates (17) are installed on the annular mounting block (16); the cooling end of the semiconductor refrigeration plate (17) extends to the inner side of the annular mounting block (16) and is connected to a silicone heat-conducting block (171); the heating end of the semiconductor refrigeration plate (17) extends to the outer side of the annular mounting block (16); the silicone heat-conducting block (171) is arranged in an arc shape and contacts the outer side of the first heat-conducting connecting tube (18).

7. The walking and lifting integrated electric drive system according to claim 6, characterized in that: The connecting member is a planetary gear part (4), the planetary gear part (4) is connected to the output shaft (31), and the planetary gear part (4) is connected to the annular rotating block (5).

8. The walking and lifting integrated electric drive system according to claim 6, characterized in that: The connecting member comprises an annular connecting inner block (15), a connecting rod (151) and an annular connecting outer block (152); the annular connecting inner block (15) is connected to the output shaft (31); the annular connecting inner block (15) is connected to the annular connecting outer block (152) via the connecting rod (151); and the annular connecting outer block (152) is connected to the annular rotating block (5).

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