Electric accessory integrated driving system and method for skid steer loader

Abstract

The invention discloses an electric accessory integrated driving system and method for a skid steer loader, belongs to the technical field of loaders, and solves the technical problems that an existing skid steer loader is low in energy efficiency and complex in system. The system comprises a power battery, an intelligent servo controller, an integrated electric drive assembly, a sensing and feedback unit, an accessory working mechanism, a host control system and a rack. The integrated electric drive assembly and the accessory working mechanism are installed in the rack, the driving end of the integrated electric drive assembly is connected with the accessory working mechanism, and the sensing and feedback unit is installed on the integrated electric drive assembly; the power battery is electrically connected with the power source end of the intelligent servo controller, the intelligent servo controller is connected with the control end of the integrated electric drive assembly through a control line, the host control system is in communication connection with the intelligent servo controller, and detection signals of the sensing and feedback unit are fed back to the intelligent servo controller to form closed-loop control. The device is high in telex efficiency, fast in response, large in debugging range, simple and compact in structure and low in maintenance cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loaders, more particularly, it relates to an electric implement integrated drive system and method for a skid steer loader. BACKGROUND

[0002] Skid steer loaders are widely used in various work scenes due to their maneuverability and convenience of accessory replacement. At present, most of the matched implements (such as snow throwers, sweepers, etc.) of the skid steer loaders adopt a hydraulic drive scheme, and the basic path is: engine → hydraulic pump → hydraulic control valve group → hydraulic motor → implement working mechanism (such as snow throwing roller, sweeping brush disc, etc.).

[0003] The traditional scheme has many inherent defects: 1. Low energy efficiency: the engine kinetic energy is converted into hydraulic energy through the hydraulic pump, and the hydraulic energy is converted back into mechanical energy through the hydraulic motor. The loss is significant in the multiple energy conversion processes, and the overall system efficiency is usually less than 40%, which is poor in fuel economy.

[0004] 2. Complex system and easy to interfere: complex hydraulic pipelines, valve groups, oil tanks and cooling systems need to be equipped, which occupies a large space and has the risk of oil leakage. When multiple hydraulic actuators work at the same time, the flow and pressure interfere with each other, resulting in poor action coordination and reduced operation performance of the whole machine.

[0005] 3. Performance is limited: the speed regulation range of the hydraulic motor is relatively narrow, the response speed is slow, and it is difficult to achieve precise speed control, which limits the best work performance of the implement.

[0006] 4. High maintenance cost: the hydraulic system has high requirements for oil cleanliness, and needs to replace hydraulic oil, filter elements and other components regularly, which is complicated and costly to maintain.

[0007] Therefore, there is an urgent need for a new driving scheme to fundamentally solve the above problems. SUMMARY

[0008] The technical problem to be solved by the present application is to solve the above-mentioned deficiencies of the prior art. The purpose of the present application is to provide an electric implement integrated drive system for a skid steer loader, which completely replaces the hydraulic drive through a highly integrated electric drive scheme, and has the advantages of high efficiency, fast response, no interference, compact structure, easy maintenance, etc.

[0009] The second purpose of the present application is to provide an electric implement drive method for a skid steer loader.

[0010] In order to achieve the above-mentioned purpose, the application provides an electric accessory integrated drive system for a skid steer loader, comprising a power battery, an intelligent servo controller, an integrated electric drive assembly, a sensing and feedback unit, an accessory working mechanism, a host control system, and a frame for connecting the skid steer loader. The integrated electric drive assembly and the accessory working mechanism are installed in the frame, the driving end of the integrated electric drive assembly is connected to the accessory working mechanism, and the sensing and feedback unit is installed in the integrated electric drive assembly. The power battery is electrically connected to the power supply end of the intelligent servo controller, the intelligent servo controller is connected to the control end of the integrated electric drive assembly through a control line, the host control system is communicatively connected to the intelligent servo controller, and the detection signal of the sensing and feedback unit is fed back to the intelligent servo controller to form a closed-loop control.

[0011] As a further improvement, the integrated electric drive assembly comprises a permanent magnet synchronous motor and a large-speed-ratio planetary reducer integrated with the permanent magnet synchronous motor, the intelligent servo controller is connected to the permanent magnet synchronous motor through a control line, the planetary reducer is directly connected to and drives the accessory working mechanism through an output flange, and the sensing and feedback unit is installed in the permanent magnet synchronous motor.

[0012] Further, the planetary reducer is a two-stage or three-stage planetary gear reducer, and the reduction ratio ranges from 20:1 to 60:1.

[0013] Further, the planetary reducer comprises a shell connected to the permanent magnet synchronous motor, the shell is provided with a first sun gear, a first planetary gear, a first planet carrier, a second planetary gear, and a second planet carrier, the first sun gear is sleeved on the motor shaft of the permanent magnet synchronous motor, the first planetary gear is installed on the first planet carrier and meshes with the first sun gear, the first planet carrier is provided with a second sun gear formed integrally therewith, the second planetary gear is installed on the second planet carrier and meshes with the second sun gear, the inner wall of the shell is provided with an inner ring gear, the first planetary gear and the second planetary gear both mesh with the inner ring gear, the end of the shell away from the permanent magnet synchronous motor is connected to the output flange, the output shaft for driving the accessory working mechanism is rotatably arranged in the output flange, the output shaft is coaxially arranged with the motor shaft, and one end of the output shaft is connected to the second planet carrier through bolts or splines.

[0014] Further, the sensing and feedback unit comprises a rotary transformer embedded in the permanent magnet synchronous motor, a temperature sensor for detecting the temperature of motor windings and IGBT modules, and a current sensor for monitoring motor phase currents.

[0015] Furthermore, the intelligent servo controller integrates a CAN bus communication interface for data interaction with the host control system.

[0016] Furthermore, the power battery is either the vehicle power battery on the skid steer loader main unit or a dedicated battery pack independently installed on the attachment working mechanism.

[0017] Furthermore, the attachment working mechanism is a working component of a snow-throwing roller or a working component of a cleaning brush.

[0018] Furthermore, the intelligent servo controller is installed in a waterproof and dustproof electrical control box on the rack.

[0019] To achieve the second objective mentioned above, the present invention provides an electric attachment driving method for a skid steer loader, comprising the following steps: Step 1. System Startup and Self-Test: After the system is powered on, the intelligent servo controller performs hardware loop detection and software algorithm initialization; if the self-test passes, the system enters standby mode; otherwise, a fault alarm is triggered. Step 2. Command Reception and Verification: Receive speed control commands via analog interface or CAN bus; verify the commands, and only valid commands proceed to the next step. Step 3. Speed ​​control and feedback: The position and speed of the motor rotor are detected by the rotary transformer and converted into digital quantities by the decoding chip; the speed deviation is calculated, and the q-axis current command is output through the speed PI control algorithm, while the d-axis current is set to 0. Step 4. Current control and drive: The three-phase stator current is collected by the current sensor and converted into dq axis current through Clark and Park transformation; after being compared with the command current, the IGBT module is controlled by generating six IGBT drive signals through Park inverse transformation and SVPWM to dynamically adjust the motor windings; Step 5. Torque amplification and attachment drive: The output torque and speed of the permanent magnet synchronous motor are amplified and reduced by the planetary reducer to match the load requirements of the attachment and drive the attachment working mechanism to operate stably; Step 6. Real-time monitoring and protection: The temperature of the motor windings and IGBT module is monitored by the temperature sensor. If the temperature exceeds the set temperature, the motor drive is suspended until the temperature drops to a safe value. The current sensor monitors the motor phase current. If the current continuously exceeds the set current, the output torque of the permanent magnet synchronous motor is reduced or the speed of the permanent magnet synchronous motor is limited, and an overload warning is sent via the CAN bus. Fault recovery methods include automatic recovery or manual intervention.

[0020] Beneficial effects Compared with the prior art, the advantages of this invention are as follows: 1. The present invention has high electrical transmission efficiency, fast response, wide debugging range, simple and compact structure, and low maintenance cost.

[0021] 2. This invention achieves high-precision operation and dynamically adjusts the motor drive through closed-loop control (speed and current loops).

[0022] 3. This invention integrates a real-time monitoring system, which effectively prevents overheating and overload, and improves system reliability and lifespan.

[0023] 4. This invention uses a planetary reducer to achieve efficient torque amplification, adapting to high-load operations.

[0024] 5. This invention supports multiple communication interfaces (analog signals and CAN bus), enhancing system compatibility.

[0025] 6. The automated fault handling of this invention reduces manual intervention and improves operational efficiency. Attached Figure Description

[0026] Figure 1 This is a diagram of the architecture of the present invention; Figure 2 This is a schematic diagram of the integrated electric drive assembly in this invention; Figure 3 This is a schematic diagram of the structure in which the integrated electric drive assembly and the snow-throwing roller are laterally connected in this invention; Figure 4 This is a schematic diagram of the longitudinal connection between the integrated electric drive assembly and the snow-throwing roller in this invention; Figure 5 This is a schematic diagram of the structure connecting the integrated electric drive assembly and the cleaning brush in this invention.

[0027] The components are as follows: 1-Power battery, 2-Intelligent servo controller, 3-Integrated electric drive assembly, 301-Permanent magnet synchronous motor, 3011-Motor output shaft, 302-Planetary reducer, 3021-Housing, 3022-First-stage sun gear, 3023-First-stage planetary gear, 3024-First-stage planetary carrier, 3025-Second-stage planetary gear, 3026-Second-stage planetary carrier, 3027-Second-stage sun gear, 3028-Internal gear ring, 303-Output flange, 3031-Output shaft, 4-Sensing and feedback unit, 5-Attachment working mechanism, 501-Snow-throwing roller, 502-Sweeping brush, 6-Main control system, 7-Frame, 8-Waterproof and dustproof electrical control box. Detailed Implementation

[0028] The present invention will be further described below with reference to specific embodiments shown in the accompanying drawings.

[0029] See Figures 1-5An integrated electric attachment drive system for a skid steer loader includes a power battery 1, an intelligent servo controller 2, an integrated electric drive assembly 3, a sensing and feedback unit 4, an attachment working mechanism 5, a main control system 6, and a frame for connecting the skid steer loader 7.

[0030] The integrated electric drive assembly 3 and the attachment working mechanism 5 are installed in the frame 7. The drive end of the integrated electric drive assembly 3 is connected to the attachment working mechanism 5, and the sensing and feedback unit 4 is installed in the integrated electric drive assembly 3.

[0031] The power battery 1 is electrically connected to the power supply terminal of the intelligent servo controller 2. The intelligent servo controller 2 is connected to the control terminal of the integrated electric drive assembly 3 through the control line. The host control system 6 is communicatively connected to the intelligent servo controller 2. The detection signal of the sensing and feedback unit 4 is fed back to the intelligent servo controller 2 to form a closed-loop control.

[0032] The integrated electric drive assembly 3 includes a permanent magnet synchronous motor 301, a high-ratio planetary reducer 302 integrated with the permanent magnet synchronous motor 301, an intelligent servo controller 2 connected to the permanent magnet synchronous motor 301 via a control line, and the planetary reducer 302 directly connected to and driving the attachment working mechanism 5 via an output flange 303. The sensing and feedback unit 4 is installed on the permanent magnet synchronous motor 301.

[0033] Preferably, the planetary reducer 302 is a two-stage or three-stage planetary gear reduction mechanism with a reduction ratio ranging from 20:1 to 60:1.

[0034] In this embodiment, the planetary reducer 302 includes a housing 3021 connected to the permanent magnet synchronous motor 301. Inside the housing 3021 are respectively provided a first-stage sun gear 3022, a first-stage planetary gear 3023, a first-stage planetary carrier 3024, a second-stage planetary gear 3025, and a second-stage planetary carrier 3026. The first-stage sun gear 3022 is sleeved on the motor shaft 3011 of the permanent magnet synchronous motor 301. The first-stage planetary gear 3023 is mounted on the first-stage planetary carrier 3024 and meshes with the first-stage sun gear 3022. The first-stage planetary carrier 3024 is provided with a second-stage sun gear 3027 integrally formed therewith. The planetary gear 3025 is mounted on the secondary planetary carrier 3026 and meshes with the secondary sun gear 3027. An internal gear ring 3028 is provided on the inner wall of the outer casing 3021. The primary planetary gear 3023 and the secondary planetary gear 3025 both mesh with the internal gear ring 3028. The end of the outer casing 3021 furthest from the permanent magnet synchronous motor 301 is connected to the output flange 303. An output shaft 3031 for driving the attachment working mechanism 5 is rotatably mounted inside the output flange 303. The output shaft 3031 is coaxially arranged with the motor shaft 3011, and one end of the output shaft 3031 is connected to the secondary planetary carrier 3026 via bolts or splines. This achieves true coaxial transmission. In this embodiment, the total reduction ratio of the planetary reduction unit 302 is designed to be approximately 21.5:1, increasing the output torque to 21.5 times the direct output torque of the motor. The entire module is cylindrical in shape. Compared to the "standard motor + harmonic reducer" solution that achieves the same output torque, its volume is about 1 / 4 of the original, making it very suitable for applications with limited installation space, such as electric attachment modules.

[0035] The sensing and feedback unit 4 includes a rotary transformer embedded inside the permanent magnet synchronous motor 301, a temperature sensor for detecting and monitoring the temperature of the motor windings and IGBT module (the IGBT module is integrated inside the permanent magnet synchronous motor 301 or inside the intelligent servo controller 2), and a current sensor for monitoring the motor phase current.

[0036] The intelligent servo controller 2 integrates a CAN bus communication interface or analog interface for data interaction with the host control system 6.

[0037] The power battery 1 is either the vehicle power battery on the skid steer loader main unit or a dedicated battery pack independently installed on the attachment working mechanism 5.

[0038] In one embodiment, the attachment mechanism 5 is the working execution component of the snow-throwing roller 501, such as... Figure 3 , Figure 4As shown, the main control system 6 sends control commands to the intelligent servo controller 2 based on the operator's setting of the desired snow-throwing speed by pushing the joystick. The intelligent servo controller 2 precisely controls the permanent magnet synchronous motor 301 to start and accelerate to the target speed. The rotary transformer provides real-time feedback of the speed signal, forming a closed-loop control to ensure that the speed remains stable even with load changes. Actual measurements show that the system efficiency can reach over 85%, far exceeding the 40% of hydraulic drives, and it has a wide speed range, enabling stepless switching from gentle snow sweeping to powerful snow throwing.

[0039] In one embodiment, the attachment mechanism 5 is the working component of the cleaning brush 502 (i.e., the roller brush), such as... Figure 5 As shown, the integrated electric drive assembly 3 is directly embedded in the side plate of the frame 7. The output shaft of the planetary reducer 302 is directly connected to the roller brush shaft of the sweeping brush disc 502 via a key or spline, realizing true "direct drive" and achieving direct conversion of electrical energy to mechanical energy. This has advantages such as high efficiency, high precision, simplified structure, and low maintenance costs, eliminating the need for multi-stage energy conversion between mechanical energy and hydraulic energy, and completely eliminating intermediate components such as pumps, valves, and motors. This embodiment uses an independent battery pack for power supply, making the attachment more modular. The intelligent servo controller 2 can preset multiple operating modes (such as "road sweeping" and "snow sweeping mode"), corresponding to different speed and torque characteristics. The operator can call them with one button, resulting in a high degree of intelligent operation. Since all hydraulic components and external transmission parts have been eliminated, the structure is extremely compact, greatly reducing the number of failure points. Daily maintenance only requires periodic lubrication of the reducer, reducing maintenance costs by more than 60%.

[0040] The intelligent servo controller 2 is installed in the waterproof and dustproof electrical control box 8 on the rack 7, which can effectively protect the intelligent servo controller 2.

[0041] A method for driving electric attachments in a skid steer loader, comprising the following steps: Step 1. System Startup and Self-Test: After the system is powered on, the intelligent servo controller 2 performs hardware circuit detection and software algorithm initialization; if the self-test passes, the system enters standby mode; otherwise, a fault alarm is triggered. Step 2. Command Reception and Verification: Receive speed control commands via analog interfaces (such as 0-10V voltage or 4-20mA current signals) or CAN bus (following CANopen or a custom protocol); verify the commands, and only valid commands proceed to the next step. Step 3. Speed ​​Control and Feedback: The position and speed of the motor rotor are detected by a rotary transformer and converted into digital quantities by a decoding chip; the speed deviation is calculated, and the q-axis current command is output through a speed PI control algorithm, while the d-axis current is set to 0. Step 4. Current control and drive: The three-phase stator current is collected by the current sensor and converted into dq axis current through Clark and Park transformation; after being compared with the command current, six IGBT drive signals are generated through Park inverse transformation and SVPWM to control the IGBT module to dynamically adjust the motor windings; Step 5. Torque amplification and attachment drive: The output torque and speed of the permanent magnet synchronous motor 301 are amplified and reduced by the planetary reducer 302 (transmission efficiency >90%), which matches the load requirements of the attachment (such as overcoming snow resistance) and drives the attachment working mechanism 5 to operate stably. Step 6. Real-time monitoring and protection: The temperature of the motor windings and IGBT module is monitored by temperature sensors. If the temperature exceeds the set temperature, the motor drive is paused until the temperature drops to a safe value. The set temperature can be configured according to the actual working conditions. In this embodiment, the set temperature is 85℃. The motor phase current is monitored by a current sensor. If the current continuously exceeds the set current, the output torque of the permanent magnet synchronous motor 301 is reduced or the speed of the permanent magnet synchronous motor 301 is limited, and an overload warning is sent via the CAN bus. The set current can be configured according to the actual working conditions. In this embodiment, the set current is 1.5 times the rated current. That is, if the current continuously exceeds 1.5 times the rated current for more than 1 minute, an overcurrent alarm is triggered, and the output torque of the permanent magnet synchronous motor 301 is reduced or the speed of the permanent magnet synchronous motor 301 is limited. Fault recovery methods include automatic recovery or manual intervention. That is, after the temperature or current alarm is triggered, the fault will be automatically cleared once the normal value is restored, or the fault can be cleared manually after confirmation.

[0042] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention, and these will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. An integrated electric attachment drive system for a skid steer loader, characterized in that, Includes a power battery (1), an intelligent servo controller (2), an integrated electric drive assembly (3), a sensing and feedback unit (4), an attachment working mechanism (5), a host control system (6), and a frame for connecting the skid steer loader (7). The integrated electric drive assembly (3) and the attachment working mechanism (5) are installed in the frame (7). The drive end of the integrated electric drive assembly (3) is connected to the attachment working mechanism (5). The sensing and feedback unit (4) is installed in the integrated electric drive assembly (3). The power battery (1) is electrically connected to the power supply terminal of the intelligent servo controller (2). The intelligent servo controller (2) is connected to the control terminal of the integrated electric drive assembly (3) through a control line. The host control system (6) is communicatively connected to the intelligent servo controller (2). The detection signal of the sensing and feedback unit (4) is fed back to the intelligent servo controller (2) to form a closed-loop control.

2. The electric attachment integrated drive system for a skid steer loader according to claim 1, characterized in that, The integrated electric drive assembly (3) includes a permanent magnet synchronous motor (301) and a high-ratio planetary reducer (302) integrated with the permanent magnet synchronous motor (301). The intelligent servo controller (2) is connected to the permanent magnet synchronous motor (301) via a control line. The planetary reducer (302) is directly connected to and drives the attachment working mechanism (5) via an output flange (303). The sensing and feedback unit (4) is installed on the permanent magnet synchronous motor (301).

3. The electric attachment integrated drive system for a skid steer loader according to claim 2, characterized in that, The planetary reducer (302) is a two-stage or three-stage planetary gear reduction mechanism with a reduction ratio ranging from 20:1 to 60:

1.

4. The electric attachment integrated drive system for a skid steer loader according to claim 3, characterized in that, The planetary reducer (302) includes a housing (3021) connected to the permanent magnet synchronous motor (301). Inside the housing (3021) are respectively arranged a first-stage sun gear (3022), a first-stage planetary gear (3023), a first-stage planetary carrier (3024), a second-stage planetary gear (3025), and a second-stage planetary carrier (3026). The first-stage sun gear (3022) is sleeved on the motor shaft (3011) of the permanent magnet synchronous motor (301). The first-stage planetary gear (3023) is mounted on the first-stage planetary carrier (3024) and meshes with the first-stage sun gear (3022). The first-stage planetary carrier (3024) has a second-stage sun gear (3027) integrally formed therewith. The second-stage planetary gear (3025) is mounted on... The secondary planetary carrier (3026) is mounted and meshes with the secondary sun gear (3027). The inner wall of the outer shell (3021) is provided with an internal gear ring (3028). The primary planetary gear (3023) and the secondary planetary gear (3025) are both meshed with the internal gear ring (3028). The end of the outer shell (3021) away from the permanent magnet synchronous motor (301) is connected to the output flange (303). The output flange (303) is rotatably provided with an output shaft (3031) for driving the attachment working mechanism (5). The output shaft (3031) is coaxially arranged with the motor shaft (3011). One end of the output shaft (3031) is connected to the secondary planetary carrier (3026) by bolts or splines.

5. The electric attachment integrated drive system for a skid steer loader according to claim 2, characterized in that, The sensing and feedback unit (4) includes a rotary transformer embedded inside the permanent magnet synchronous motor (301), a temperature sensor for detecting and monitoring the temperature of the motor windings and IGBT module, and a current sensor for monitoring the phase current of the motor.

6. The electric attachment integrated drive system for a skid steer loader according to claim 1, characterized in that, The intelligent servo controller (2) integrates a CAN bus communication interface for data interaction with the host control system (6).

7. The electric attachment integrated drive system for a skid steer loader according to claim 1, characterized in that, The power battery (1) is either the vehicle power battery on the skid steer loader host or a dedicated battery pack independently installed on the attachment working mechanism (5).

8. The electric attachment integrated drive system for a skid steer loader according to claim 1, characterized in that, The attachment working mechanism (5) is a working component of the snow-throwing roller (501) or a working component of the cleaning brush (502).

9. The electric attachment integrated drive system for a skid steer loader according to claim 1, characterized in that, The intelligent servo controller (2) is installed in a waterproof and dustproof electrical control box (8) on the frame (7).

10. A method for driving electric attachments in a skid steer loader, characterized in that, Includes the following steps: Step 1. System startup and self-test: After the system is powered on, the intelligent servo controller (2) performs hardware loop detection and software algorithm initialization; if the self-test passes, the system enters standby mode, otherwise a fault alarm is triggered; Step 2. Command Reception and Verification: Receive speed control commands via analog interface or CAN bus; verify the commands, and only valid commands proceed to the next step. Step 3. Speed ​​control and feedback: The position and speed of the motor rotor are detected by the rotary transformer and converted into digital quantities by the decoding chip; the speed deviation is calculated, and the q-axis current command is output through the speed PI control algorithm, while the d-axis current is set to 0. Step 4. Current control and drive: The three-phase stator current is acquired through the current sensor and converted into dq-axis current through Clark and Park transformations; After comparing with the command current, six IGBT drive signals are generated through Park inverse transformation and SVPWM to control the IGBT module and dynamically adjust the motor windings; Step 5. Torque amplification and attachment drive: The output torque and speed of the permanent magnet synchronous motor (301) are amplified and reduced by the planetary reducer (302) to match the load requirements of the attachment and drive the attachment working mechanism (5) to operate stably; Step 6. Real-time monitoring and protection: The temperature of the motor windings and IGBT module is monitored by the temperature sensor. If the temperature exceeds the set temperature, the motor drive is suspended until the temperature drops to a safe value. The current sensor monitors the motor phase current. If the current continuously exceeds the set current, the output torque of the permanent magnet synchronous motor (301) is reduced or the speed of the permanent magnet synchronous motor (301) is limited, and an overload warning is sent via the CAN bus. Fault recovery methods include automatic recovery or manual intervention.

Images