Pure electric four-wheel drive mine car and distributed power distribution method

Abstract

The invention discloses a pure electric four-wheel drive mine car which comprises wheels, an upper layer controller, a whole car controller, a total battery manager, a four-wheel drive system and a battery box, and the four-wheel drive system comprises a drive system controller, a drive motor controller and a hub motor assembly. The invention further discloses a distributed power distribution method of the pure electric four-wheel drive mine car. Pure electric four-wheel drive of the mine car can be achieved, the overall power performance of the mine car is higher, and the transportation efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the field of mining dump trucks, and in particular relates to a pure electric four-wheel drive mining truck and a distributed power distribution method. Background Art

[0002] Mining dump trucks are important transportation equipment for open-pit mining. With the continuous development of open-pit mining technology in recent years, the transportation efficiency of mine trucks is required to be further improved. At present, the efficiency improvement of rear-wheel drive mine trucks has reached a bottleneck.

[0003] Publication No. CN 222040240 U discloses a high-voltage power distribution system and a pure electric mining vehicle. The high-voltage power distribution system includes a battery module, a junction box, and a controller module, wherein the junction box is electrically connected to the battery module; the controller module includes a first controller and a second controller, each electrically connected to the junction box; the first controller is suitable for connecting to and supplying power to one or more of the following devices: a near-gearbox motor, a battery, a steering oil pump, an air pump, an air conditioning compressor, and a PTC high-voltage accessory; and the second controller is suitable for connecting to and supplying power to a far-gearbox motor. By providing the first and second controllers, the high-power main motor equipment and the low-power auxiliary motor equipment are arranged in a staggered combination, preventing the actions required by the motors corresponding to each controller from occurring simultaneously, resulting in line currents exceeding the controller's tolerance and causing damage to the controller, thereby improving the reliability and stability of the power supply system. This pure electric mining vehicle, which only changes the power distribution method, cannot improve the efficiency of rear-wheel drive mining vehicles.

[0004] Publication No. CN 221623618 U discloses a bidirectional transport robot with a chassis comprising two power units, one for driving the front and one for the rear wheels; and a bidirectional unloading mechanism mounted on the chassis. Using two power units to drive the front and rear wheels separately allows for switching between front-wheel drive, rear-wheel drive, and four-wheel drive depending on the operating conditions, adapting to more complex working conditions. However, this device, with two power units driving the front and rear wheels separately, is still a two-wheel drive system and cannot further improve the efficiency of rear-wheel drive mining vehicles. Summary of the Invention

[0005] The purpose of the present invention is to provide a pure electric four-wheel drive mine car and a distributed power distribution method, which can realize the pure electric four-wheel drive of the mine car, make the overall power performance of the mine car stronger, and improve transportation efficiency.

[0006] To achieve the above objectives, the technical solutions used in the present invention are:

[0007] Pure electric four-wheel drive mining car, including: wheels, upper controller, vehicle controller, total battery manager, four-wheel drive system, battery box,

[0008] The upper controller is used to control the vehicle posture and chassis by wire control. It generates vehicle action instructions based on the received drive status, battery status, and wheel hub status, and sends the vehicle action instructions to the vehicle controller;

[0009] The vehicle controller generates power instructions and drive instructions based on the vehicle action instructions, sends the power instructions to the main battery manager, sends the drive instructions to the four-wheel drive system, and reports the drive status, battery status, and wheel hub status to the upper controller;

[0010] The master battery manager exchanges information with the battery managers of the battery boxes, issues power commands to the battery managers of each battery box, and manages the coordination of the battery managers;

[0011] The battery box, which houses the power battery and battery manager, is used to provide power to the hub motor assembly of the four-wheel drive system. The battery manager receives power commands and outputs corresponding power to the hub motor assembly based on the power commands.

[0012] The four-wheel drive system includes: a drive system controller, a drive motor controller, and a hub motor assembly, which are used to execute drive instructions and provide power to the wheels.

[0013] The drive system controller exchanges information with the drive motor controller, manages the coordinated work of multiple drive motor controllers, generates drive execution instructions for each wheel hub motor assembly based on the drive instructions, sends the drive instructions to the drive motor controller, and feeds back the wheel hub status of the wheel hub motor assembly to the vehicle controller in real time;

[0014] The drive motor controller communicates with the drive system controller, receives drive execution instructions and DC power from the power distribution unit, converts DC power into AC power, executes the drive execution instructions, provides power to the hub motor assembly according to the execution instructions, controls the hub motor assembly to complete the corresponding action, and reports the hub status to the drive system controller;

[0015] The hub motor assembly serves as a power actuator. Four hub motor assemblies are installed in the hubs of the four wheels respectively to convert electrical energy into torque and output it to the wheels.

[0016] Furthermore, the four-wheel drive system is equipped with four hub motor assemblies, and the drive motor controller is installed on the chassis on one side of the wheel. Each hub motor assembly is matched with a drive motor controller, a power distribution unit, and a battery box; the power distribution unit is connected to the battery box of each wheel and the corresponding drive motor controller through wires to distribute the electrical energy provided by the battery box.

[0017] Furthermore, the hub motor assembly includes: a hub motor, a reducer and a brake. The drive motor controller provides electrical energy to the hub motor. The power output end of the hub motor is connected to the reducer. The power output end of the reducer outputs power to the wheel hub. The wheel hub provides torque to the wheel, driving the wheel to rotate; the brake is arranged at the high-speed end of the wheel hub, and the brake is used to provide braking torque to the wheel hub.

[0018] Furthermore, the hub motor assembly has an electric retarding function, which converts braking energy into electrical energy, and drives the motor controller to convert AC power into DC power, which is then recharged into the battery box through the power distribution unit.

[0019] Furthermore, the power distribution unit is connected to the pump motor controller and the 24V converter through wires. The pump motor controller is used to control the pump motor, and the 24V converter is used to convert the high-voltage DC power distributed by the power distribution unit into low-voltage DC power. The power distribution unit interacts with the vehicle controller and uploads the status information of the pump motor to the vehicle controller.

[0020] Furthermore, the drive motor controller and the hub motor assembly are equipped with a drive cooler, which includes: an expansion tank, a radiator and a water pump, and a pump motor, which respectively dissipate heat for the four drive motor controllers and the hub motor assembly to ensure stable operation of the drive system.

[0021] Furthermore, the overall battery manager is arranged separately from the vehicle controller, or the overall battery manager is integrated into the vehicle controller.

[0022] The distributed power distribution method of the pure electric four-wheel drive mining vehicle includes:

[0023] The upper controller sends the vehicle action command to the vehicle controller. The vehicle controller generates power command and drive command based on the vehicle action command, sends the power command to the battery box's main battery manager, and sends the drive command to the drive system controller.

[0024] The master battery manager sends power instructions to the battery managers of each battery box. The battery managers control the power battery to output DC power to the drive motor controller according to the power specified by the power instructions. The drive motor controller converts DC power into AC power according to the drive instructions and outputs it to the hub motor assembly.

[0025] The four hub motor assemblies drive the corresponding wheel hubs to rotate respectively, and the wheel hubs provide torque to the wheels, driving the wheels to rotate.

[0026] Preferably, the upper controller receives the driving status, battery status, and hub status from each hub motor assembly reported by the vehicle controller, and generates vehicle action instructions based on the driving status, battery status, hub status, and vehicle travel status to complete the wire control of the entire chassis; power instructions are sent to different battery boxes respectively, and driving instructions are sent to different drive motor controllers respectively to coordinate the working status of each hub motor assembly, and the battery box distributes electrical energy according to the working status of the hub motor assembly 8.

[0027] Preferably, when the hub motor assembly implements electric deceleration, the drive motor controller converts AC power into DC power, and recharges it into the battery box through the power distribution unit; the drive motor controller converts DC power into AC power of the frequency and direction specified by the drive instruction according to the drive instruction, and the four drive motor controllers respectively control the hub motor assembly to complete the corresponding actions. The power output of the hub motor is output to the hub through the reducer, and the hub provides torque to the wheel.

[0028] The technical effects of the present invention include:

[0029] 1. The pure electric four-wheel drive mine car provided by the present invention realizes the pure electric four-wheel drive of the mine car, making the overall power performance of the mine car stronger, thereby improving transportation efficiency.

[0030] The present invention makes the overall power performance of the mining car stronger through four-wheel drive, thereby improving transportation efficiency.

[0031] 2. The present invention provides a distributed power distribution method for a four-wheel drive mine car, realizing pure electric drive of the mine car.

[0032] Through distributed power distribution, each wheel becomes an independent system, preventing interference with each other. Auxiliary power-consuming devices are also deployed to balance power consumption across the four wheels, enabling pure electric drive for the mine car. The pure electric four-wheel drive mine car eliminates the need for a cab, making it more adaptable to unmanned operation.

[0033] 3. The pure electric four-wheel drive mining vehicle provided by the present invention has flexible configuration of auxiliary power-consuming equipment and auxiliary power supply, and distributes the electric energy provided by the battery box to achieve flexible power supply.

[0034] The vehicle controller integrates a master battery manager, which can interact with and send instructions to the battery managers of the four battery boxes. The master battery manager can also be separated from the vehicle controller and flexibly configured according to different vehicle models. At the same time, the vehicle controller is also responsible for interactive communication with the upper-level controller and drive system controller to complete the wire control of the entire chassis.

[0035] The pump motor controller is connected to the power distribution unit (PDU) and is responsible for controlling the mine car's pump motor. It can also communicate with the vehicle controller. The 24V converter is connected to the PDU and is responsible for powering the mine car's 24V battery. It can convert the high-voltage DC power distributed by the PDU into low-voltage DC power. Because mine cars have heavy-loaded uphill and heavy-loaded downhill conditions, the energy consumption of the front and rear wheels varies. Auxiliary power-consuming devices (such as the pump motor controller) with higher power consumption are connected to the PDU on the wheel with lower power consumption, while auxiliary power-consuming devices (such as the 24V converter) with lower power consumption are connected to the PDU on the wheel with higher power consumption. This method balances the vehicle's power consumption.

[0036] 4. The drive cooler of the present invention includes components such as an expansion water tank, a radiator and a water pump. There are four sets in the whole vehicle, which are used to dissipate heat for four drive motor controllers and hub motor assemblies to ensure stable operation of the drive system.

[0037] 5. Able to convert braking energy into electrical energy.

[0038] The drive motor controller can interact and communicate with the drive system controller and execute relevant instructions to control the hub motor assembly to complete corresponding actions. At the same time, the drive motor controller can convert the DC power distributed by the power distribution unit into AC power to provide kinetic energy for the hub motor assembly. When the hub motor assembly implements electric braking, the drive motor controller can convert AC power into DC power and recharge it into the battery box through the power distribution unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the pure electric four-wheel drive mining vehicle of the present invention;

[0040] Figure 2 It is a schematic structural diagram of the four-wheel drive system of the present invention;

[0041] Figure 3 It is a schematic diagram of the installation position of the four-wheel drive system of the present invention;

[0042] Figure 4 It is a structural principle diagram of the hub motor assembly 8 in the present invention. DETAILED DESCRIPTION

[0043] The following description sufficiently illustrates specific embodiments of the present invention to enable those skilled in the art to practice and reproduce the present invention. It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, a feature designated "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined. Directional terms or qualifiers such as "front" and "rear" used in this application are with respect to the accompanying drawings to which they are referenced. They are not intended to define the absolute positions of the components involved and may vary depending on the specific circumstances. When an element is referred to as being "attached to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0044] like Figure 1 As shown in FIG, it is a structural diagram of the pure electric four-wheel drive mining car of the present invention; Figure 2 FIG. 1 is a schematic diagram of the structure of the four-wheel drive system of the present invention.

[0045] A pure electric four-wheel drive mining vehicle includes a chassis 1, wheels 2, an upper controller (V-BOX) 3, a vehicle control unit (VCU) 4, a drive system controller (DSC) 5, a four-wheel drive system, and a battery box 6. The wheels 2, upper controller (V-BOX) 3, vehicle control unit (VCU) 4, drive system controller (DSC) 5, four-wheel drive system, and battery box 6 are arranged on the chassis 1. The four-wheel drive system provides power to the wheels 2, while the upper controller (V-BOX) 3 and vehicle control unit (VCU) 4 are used to control the operation of the entire vehicle.

[0046] The upper controller 3 is used to control the vehicle posture and the by-wire control of the chassis 1, send vehicle action instructions to the vehicle control unit (VCU) 4, and receive status signals reported by the vehicle control unit (VCU) 4;

[0047] The upper controller 3 is connected to the vehicle controller unit (VCU) 4 via a signal line, receives various status signals reported from the outside, and issues vehicle action instructions.

[0048] The vehicle controller 4 integrates a master battery manager. Based on vehicle motion commands, the vehicle controller 4 generates power and drive commands and sends them to the master battery manager. The master battery manager interacts with the battery management systems (BMSs) in the battery boxes 5, managing their coordinated operations and issuing power commands to the BMSs in each battery box 6. The vehicle controller 4 sends drive commands to the drive system controller (DSC) 5. Furthermore, the vehicle controller 4 is responsible for communicating with the upper-level controller 3, reporting drive and battery status signals to the upper-level controller 3, and completing the drive-by-wire control of the entire chassis 1.

[0049] The vehicle controller 4 is connected to the upper controller 3 and the drive system controller 5 through a signal line, sends power instructions and drive instructions, and reports drive status signals and battery status signals to the upper controller 3.

[0050] The main battery manager can also be arranged separately from the vehicle controller 4 and flexibly configured according to different vehicle models.

[0051] The drive system controller (DSC) 5 exchanges information with the drive motor controller 7 and manages the coordinated work of multiple drive motor controllers 7. The drive system controller (DSC) 5 generates drive execution instructions for each hub motor assembly 8 according to the drive instructions, sends the drive instructions to the drive motor controller 7, and at the same time feeds back the status information of the hub motor assembly 8 to the vehicle controller 4 in real time.

[0052] In this preferred embodiment, the four wheel hub motor assemblies 8 of the four-wheel drive system are respectively matched with independent drive motor controllers 7 and battery boxes 6.

[0053] The battery box 6 is used to provide power to the hub motor assembly 8 of the four-wheel drive system. It has a built-in power battery and a battery management system (BMS). The battery management system (BMS) receives power instructions and outputs corresponding power to the hub motor assembly 8 according to the power instructions.

[0054] The main functions of the battery manager BMS include: safety warning and control, remaining power estimation and indication, charge and discharge energy management and process control, information processing and communication, etc. These functions work together to ensure the safe and efficient operation of the power battery.

[0055] In the present invention, the two front wheels and the two rear wheels can be matched with a battery box 6 and a drive motor controller 7 respectively, or the four wheels can be matched with a battery box 6 and a drive motor controller 7 respectively, or the entire vehicle can use one matching battery box 6 and drive motor controller 7.

[0056] like Figure 3 , which is a schematic diagram of the installation position of the four-wheel drive system in the present invention.

[0057] The four-wheel drive system includes: a drive system controller 5, a drive motor controller 7, a hub motor assembly 8, and a power distribution unit (PDU) 9.

[0058] The four-wheel drive system is provided with four hub motor assemblies 8, and the drive motor controller 7 is installed on the chassis 1 on one side of the wheel 2. Each hub motor assembly 8 is respectively allocated a pair of drive motor controllers 7 and power distribution units (PDUs) 9.

[0059] The drive motor controller 7 interacts and communicates with the drive system controller 5, receives the drive execution instructions and the DC power from the power distribution unit 9, converts the DC power into AC power, executes the drive execution instructions, provides power to the hub motor assembly 8 according to the execution instructions, and controls the hub motor assembly 8 to complete the corresponding actions.

[0060] When the hub motor assembly 8 implements electric braking, the drive motor controller 7 can convert AC power into DC power and recharge it into the battery box 6 through the power distribution unit 9.

[0061] There are four power distribution units 9 in the vehicle, which are connected to the battery box 6 of each wheel 2 and the corresponding drive motor controller 7 through wires to distribute the electric energy provided by the battery box 6.

[0062] The power distribution unit 9 is connected to the pump motor controller 10 and the 24V converter 11 through wires. The pump motor controller 10 is responsible for controlling the pump motor on the mine car. The power distribution unit 9 can interact with the vehicle controller 4 to upload the status information of the pump motor to the vehicle controller 4.

[0063] The 24V converter 11 is responsible for supplying power to the 24V battery on the mining car and can convert the high-voltage direct current distributed by the power distribution unit 9 into low-voltage direct current.

[0064] The drive motor controller 7 and the hub motor assembly 8 are provided with a drive cooler 12. The drive cooler 12 includes: an expansion water tank, a radiator and a water pump, and a pump motor. There are four sets in the whole vehicle, which are used to dissipate heat for four drive motor controllers 7 and hub motor assemblies 8 to ensure stable operation of the drive system.

[0065] Since the mine car has the difference between heavy-loaded uphill and heavy-loaded downhill, the energy consumption of the front and rear wheels is different. The auxiliary power-consuming equipment with high power consumption, such as the pump motor controller 10, is connected to the power distribution unit 9 of the wheel 2 on the side with low power consumption; the auxiliary power-consuming equipment with low power consumption, such as the 24V converter 11, is connected to the power distribution unit 9 of the wheel 2 on the side with high power consumption. The above method is used to balance the power consumption of the entire vehicle.

[0066] like Figure 4 , which is a structural principle diagram of the hub motor assembly 8 of the present invention.

[0067] The hub motor assembly 8 is the power execution component of the mining car. There are four hub motor assemblies in the whole vehicle. The four hub motor assemblies 8 are respectively installed in the four wheel hubs 16. The hub motor assembly 8 includes: a hub motor 13, a reducer 14 and a brake 15. The brake 15 is arranged at the high-speed end; at the same time, the hub motor assembly 8 has an electric deceleration function, which can convert braking energy into electrical energy.

[0068] The drive motor controller 7 provides electrical energy to the hub motor 13. The power output end of the hub motor 13 is connected to the reducer 14. The power output end of the reducer 14 outputs power to the hub 16. The hub 16 provides torque to the wheel 2, driving the wheel 2 to rotate.

[0069] The four-wheel drive system enhances the overall power performance of the mining vehicle, thereby improving transportation efficiency. Through a distributed power distribution method, each wheel 2 is equipped with an independent hub motor assembly 8, which prevents mutual interference. At the same time, auxiliary power-consuming devices are configured to balance the power consumption of the four wheels 2, achieving pure electric drive for the mining vehicle.

[0070] The distributed power distribution method for pure electric four-wheel drive mining vehicles has the following steps:

[0071] Step 1: The upper controller 3 sends a vehicle action command to the vehicle controller 4. The vehicle controller 4 generates a power command and a drive command based on the vehicle action command, sends the power command to the main battery manager of the battery box 6, and sends the drive command to the drive system controller 5;

[0072] The upper controller 3 receives the driving status signal and battery status signal from each hub motor assembly 8 reported by the vehicle controller 4. The upper controller 3 generates vehicle action instructions based on the driving status signal, battery status signal and vehicle travel status to complete the wire control of the entire chassis 1; the power instructions are sent to different battery boxes 6 respectively, and the driving instructions are sent to different drive motor controllers 7 respectively, coordinating the working status of each hub motor assembly 8 at any time, and the battery box 6 distributes electrical energy according to the working status of the hub motor assembly 8.

[0073] Step 2: The master battery manager sends a power command to the battery manager of each battery box 6. The battery manager controls the power battery to output DC power to the drive motor controller 7 according to the power specified by the power command. The drive motor controller 7 converts the DC power into AC power according to the drive command and outputs it to the hub motor assembly 8.

[0074] The power instructions of each battery box 6 contain different contents. The battery manager of the battery box 6 controls the output power of the power battery according to the power instructions. The battery manager monitors the working status of the power battery in real time and reports it to the vehicle controller 4.

[0075] The power distribution unit 9 is used to supply power to the pump motor and the 24V battery, and report status information of the pump motor and the 24V battery to the drive motor controller 7 , and the drive motor controller 7 reports to the drive system controller 5 .

[0076] When the hub motor assembly 8 implements electric braking, the drive motor controller 7 can convert AC power into DC power and recharge it into the battery box through the power distribution unit.

[0077] The drive motor controller 7 converts the direct current into alternating current of the frequency and direction specified by the drive instruction according to the drive instruction, and controls the hub motor assembly 8 to complete the corresponding action.

[0078] Step 3: The four hub motor assemblies 8 drive the corresponding wheel hubs 16 to rotate respectively. The wheel hubs 16 provide torque to the wheels 2, driving the wheels 2 to rotate.

[0079] The four drive motor controllers 7 respectively control the corresponding hub motor assemblies 8 to complete corresponding actions, providing electrical energy to the hub motor 13. The power output of the hub motor 13 is output to the hub 16 through the reducer 14, and the hub 16 provides torque to the wheel 2.

[0080] Example 1:

[0081] A pure electric four-wheel drive mining vehicle includes: a chassis 1, wheels 2, an upper controller 3, a vehicle controller 4, a drive system controller 5, a battery box 6, a drive motor controller 7, and a hub motor assembly 8.

[0082] In this preferred embodiment, unmanned driving mode is employed, with the upper controller 3, vehicle controller 4, and drive system controller 5 arranged separately. The drive system controller 5, battery box 6, drive motor controller 7, and wheel hub motor assembly 8 are arranged near the wheels 2 on the chassis 1. Each of the four wheels 2 is equipped with an independent battery box 6, wheel hub motor assembly 8, and drive motor controller 7. The four battery boxes 6 independently provide power to the four wheel hub motor assemblies 8. There are no hardwired connections between the four battery boxes 6. Four battery management systems (BMSs) communicate with the vehicle controller 4, reporting battery status signals of the power batteries to the vehicle controller 4.

[0083] The distributed power distribution method for pure electric four-wheel drive mining vehicles has the following steps:

[0084] Step 1: The upper controller 3 generates an action command based on the vehicle's operating status and sends the vehicle action command to the vehicle controller 4. The vehicle controller 4 generates power commands and drive commands corresponding to the four wheel hub motor assemblies 8 based on the vehicle action command, sends the power commands to the main battery managers of the four battery boxes 6, and sends the drive commands to the drive system controller 5;

[0085] The upper controller 3 receives the driving status signals and battery status signals from the four wheel hub motor assemblies 8 reported by the vehicle controller 4. The upper controller 3 generates vehicle action instructions based on the driving status signals, battery status signals and vehicle working status to complete the wire control of the entire chassis 1; the power instructions are sent to the four battery boxes 6 respectively, and the driving instructions are sent to the four drive motor controllers 7 respectively. The drive system controller 5 coordinates the working status of the four wheel hub motor assemblies 8 at any time through the four drive motor controllers 7, and the battery box 6 distributes electrical energy according to the working status of the wheel hub motor assembly 8.

[0086] Step 2: The master battery manager sends power instructions to the battery managers of the four battery boxes 6 respectively. The battery managers of the four battery boxes 6 control the power batteries to output DC power to the drive motor controller 7 according to the power specified by the power instructions. The drive motor controller 7 converts the DC power into AC power according to the drive instructions and outputs it to the hub motor assembly 8;

[0087] Step 3: The four hub motor assemblies 8 drive the corresponding wheel hubs 16 to rotate respectively. The wheel hubs 16 provide torque to the wheels 2, driving the wheels 2 to rotate.

[0088] Example 2

[0089] On the basis of Example 1, a power distribution unit 9 is connected between the drive motor controller 7 and the battery box 6. There are four power distribution units 9 in the whole vehicle. The power distribution units 9 are respectively connected to the pump motor controller 10 and the 24V converter 11. The power distribution unit 9 is used to distribute the power output by the battery box 6 to the drive motor controller 7, the pump motor controller 10, and the 24V converter 11.

[0090] The distributed power distribution method for pure electric four-wheel drive mining vehicles has the following steps:

[0091] Step 1: When the upper controller 3 determines that the mine car is heavily loaded and going downhill, the upper controller 3 sends a vehicle motion instruction to the vehicle controller 4. The vehicle controller 4 generates a drive instruction based on the vehicle motion instruction and sends the drive instruction to the system controller 5;

[0092] Step 2: The drive motor controller 7 stops power output according to the drive instruction, and the hub motor assembly 8 performs electric slowdown. The hub motor assembly 8 sends AC power to the drive motor controller 7. The drive motor controller 7 converts the AC power into DC power and outputs it to the power distribution unit 9. The power distribution unit 9 outputs the DC power to the 24V converter 11. The 24V converter 11 converts the high-voltage DC power into low-voltage DC power, maintains the DC voltage, and charges the battery box 6.

[0093] Step 3: When driving on a flat road, the vehicle controller 4 generates power instructions and drive instructions according to the vehicle action instructions, and the drive motor controller 7 reduces the power output to the power distribution unit 9. The four hub motor assemblies 8 respectively drive the corresponding wheel hubs 16 to rotate, and the wheel hubs 16 provide torque to the wheels 2, driving the wheels 2 to rotate.

[0094] Example 3

[0095] Based on embodiment 1 or 2, the drive motor controller 7 and the hub motor assembly 8 are provided with a drive cooler 12 .

[0096] The distributed power distribution method for pure electric four-wheel drive mining vehicles has the following steps:

[0097] Step 1: When the upper controller 3 determines that the hydraulic system or the oil pump or water pump driving the cooler 12 is working, the upper controller 3 sends a vehicle action command to the vehicle controller 4. The vehicle controller 4 generates a power command and a drive command based on the vehicle action command, sends the power command to the main battery manager of the battery box 6, and sends the drive command to the drive system controller 5;

[0098] Step 2: The master battery manager sends power instructions to the battery managers of the four battery boxes 6 respectively. The battery managers of the four battery boxes 6 control the power batteries to output DC power to the drive motor controller 7 according to the power specified by the power instructions. The drive motor controller 7 reduces the power output of the hub motor assembly 8 according to the drive instructions.

[0099] Step 3: The driving motor controller 7 distributes output power to the pump motor controller 10 , which converts DC power into AC power and outputs it to the pump motor. At the same time, the pump motor status information is uploaded to the vehicle controller 4 ;

[0100] Step 4: The four wheel hub motor assemblies 8 drive the corresponding wheel hubs 16 to rotate respectively. The wheel hubs 16 provide torque to the wheels 2, driving the wheels 2 to rotate.

[0101] The terms used in this invention are descriptive and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the technical solution, it should be understood that the above-described embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope of the appended claims. Therefore, all changes and modifications that fall within the scope of the claims or their equivalents are intended to be covered by the appended claims.

Claims

1. A pure electric four-wheel drive mining car, characterized in that: include: Wheels, upper controller, vehicle controller, total battery manager, four-wheel drive system, battery box, etc. The upper controller is used to control the vehicle posture and chassis by wire control. It generates vehicle action instructions based on the received drive status, battery status, and wheel hub status, and sends the vehicle action instructions to the vehicle controller; The vehicle controller generates power instructions and drive instructions based on the vehicle action instructions, sends the power instructions to the main battery manager, sends the drive instructions to the four-wheel drive system, and reports the drive status, battery status, and wheel hub status to the upper controller; The master battery manager exchanges information with the battery managers of the battery boxes, issues power commands to the battery managers of each battery box, and manages the coordination of the battery managers; The battery box, which houses the power battery and battery manager, is used to provide power to the hub motor assembly of the four-wheel drive system. The battery manager receives power commands and outputs corresponding power to the hub motor assembly based on the power commands. The four-wheel drive system includes: a drive system controller, a drive motor controller, and a hub motor assembly, which are used to execute drive instructions and provide power to the wheels. The drive system controller exchanges information with the drive motor controller, manages the coordinated work of multiple drive motor controllers, generates drive execution instructions for each wheel hub motor assembly based on the drive instructions, sends the drive instructions to the drive motor controller, and feeds back the wheel hub status of the wheel hub motor assembly to the vehicle controller in real time; The drive motor controller communicates with the drive system controller, receives drive execution instructions and DC power from the power distribution unit, converts DC power into AC power, executes the drive execution instructions, provides power to the hub motor assembly according to the execution instructions, controls the hub motor assembly to complete the corresponding action, and reports the hub status to the drive system controller; The hub motor assembly serves as a power actuator. Four hub motor assemblies are installed in the hubs of the four wheels respectively to convert electrical energy into torque and output it to the wheels.

2. The pure electric four-wheel drive mining vehicle according to claim 1, characterized in that: The four-wheel drive system is equipped with four hub motor assemblies. The drive motor controller is installed on the chassis on one side of the wheel. Each hub motor assembly is matched with a drive motor controller, a power distribution unit, and a battery box. The power distribution unit is connected to the battery box of each wheel and the corresponding drive motor controller through wires to distribute the electrical energy provided by the battery box.

3. The pure electric four-wheel drive mining vehicle according to claim 2, characterized in that: The hub motor assembly includes: a hub motor, a reducer and a brake. The drive motor controller provides electrical energy to the hub motor. The power output end of the hub motor is connected to the reducer. The power output end of the reducer outputs power to the wheel hub. The wheel hub provides torque to the wheel, driving the wheel to rotate. The brake is arranged at the high-speed end of the wheel hub. The brake is used to provide braking torque to the wheel hub.

4. The pure electric four-wheel drive mining vehicle according to claim 2, characterized in that: The hub motor assembly has an electric retarding function, which converts braking energy into electrical energy. The drive motor controller converts AC power into DC power, which is then recharged into the battery box through the power distribution unit.

5. The pure electric four-wheel drive mining vehicle according to claim 2, characterized in that: The power distribution unit is connected to the pump motor controller and 24V converter through wires. The pump motor controller is used to control the pump motor, and the 24V converter is used to convert the high-voltage DC power distributed by the power distribution unit into low-voltage DC power. The power distribution unit interacts with the vehicle controller and uploads the status information of the pump motor to the vehicle controller.

6. The pure electric four-wheel drive mining vehicle according to claim 2, characterized in that: The drive motor controller and the hub motor assembly are equipped with a drive cooler, which includes an expansion tank, a radiator, a water pump, and a pump motor. They are used to dissipate heat for the four drive motor controllers and the hub motor assembly respectively to ensure stable operation of the drive system.

7. The pure electric four-wheel drive mining vehicle according to claim 1, characterized in that: The total battery manager is arranged separately from the vehicle controller, or the total battery manager is integrated into the vehicle controller.

8. The distributed power distribution method for a pure electric four-wheel drive mining vehicle according to any one of claims 1 to 7, characterized in that: include: The upper controller sends the vehicle action command to the vehicle controller. The vehicle controller generates power command and drive command based on the vehicle action command, sends the power command to the battery box's main battery manager, and sends the drive command to the drive system controller. The master battery manager sends power instructions to the battery managers of each battery box. The battery managers control the power battery to output DC power to the drive motor controller according to the power specified by the power instructions. The drive motor controller converts DC power into AC power according to the drive instructions and outputs it to the hub motor assembly. The four hub motor assemblies drive the corresponding wheel hubs to rotate respectively, and the wheel hubs provide torque to the wheels, driving the wheels to rotate.

9. The distributed power distribution method according to claim 8, wherein: The upper controller receives the driving status, battery status, and wheel hub status from each hub motor assembly reported by the vehicle controller. The upper controller generates vehicle action instructions based on the driving status, battery status, wheel hub status, and vehicle travel status to complete the wire control of the entire chassis; power instructions are sent to different battery boxes respectively, and driving instructions are sent to different drive motor controllers respectively to coordinate the working status of each hub motor assembly. The battery box distributes electrical energy according to the working status of the hub motor assembly 8.

10. The distributed power distribution method according to claim 8, wherein: When the hub motor assembly implements electric braking, the drive motor controller converts AC power into DC power and recharges it into the battery box through the power distribution unit; the drive motor controller converts DC power into AC power of the frequency and direction specified by the drive instruction according to the drive instruction. The four drive motor controllers respectively control the hub motor assembly to complete the corresponding actions. The power output of the hub motor is output to the hub through the reducer, and the hub provides torque to the wheel.

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