Electric excavator

Abstract

An excavator (10) includes a power system (40) having at least one motor (71) for receiving power from at least one battery (45) mounted on at least one battery mount (63). The excavator (10) comprises at least one counterweight group (80) mounted on the at least one battery mount (63) in place of the at least one battery (45) in order to at least partially balance the boom arrangement (14) of the excavator (10).

Description

Technical Field

[0001] This disclosure relates to electrically powered excavators. This disclosure further relates to methods for designing and operating such excavators. Background Technology

[0002] Electric excavators and work machines typically have built-in batteries to power the electric drive units and other power systems. However, batteries in such work machines may need to be replaced due to routine maintenance, application changes, sales to new customers with different applications, work cycles, and / or to remove depleted batteries and replace them with fully charged ones. Additionally, work machines can operate in a cable-powered mode, where electricity is supplied to the electric drive units and other power systems from an external power source.

[0003] Excavators and other heavy machinery typically include specialized counterweights to balance the work of the tool, especially when it is gripping heavy loads. Depending on the purpose and configuration of the machinery, counterweights can be added or removed. However, replacing such counterweights can be costly and time-consuming for the operator. Furthermore, counterweights are usually located at the rear of the machine and are susceptible to contact damage during operation, removal, and installation. This often requires complete replacement, which can be very costly. Summary of the Invention

[0004] The purpose of this disclosure is to provide an electric excavator that can operate without a fully charged battery. The purpose of this disclosure is to provide an electric excavator with improved capabilities when operating without a fully charged battery. The purpose of this disclosure is to provide an electric excavator with an improved counterweight solution. Additional objectives include providing improved methods for operating such excavators.

[0005] Therefore, this disclosure provides an excavator and method according to claims. Specifically, if fewer than a full set of batteries are installed, normal excavator stability can be achieved by installing a counterweight on all battery mounts without batteries. Alternatively, for example, if insufficient counterweights are available, the mechanical control system can operate the excavator to improve its stability, such as by reducing the operating speed of the excavator and its components.

[0006] The excavator can still operate using only a partially installed battery and / or receive power from an external power source via a tow cable. The mechanical control system can achieve adjusted performance limits under which the power available to the excavator components is derated due to the partially installed battery, for example, because the installed battery cannot supply sufficient power to the excavator components, or because the installed battery can only supply sufficient power to the excavator components for a limited period of time compared to normal operation.

[0007] The excavator can operate in conjunction with power received via a tow cable, either alone or in conjunction with an installed battery, to achieve normal performance limits, or, if the power received via the tow cable is insufficient to meet the normal performance limits, to operate at adjusted performance limits. The operator also controls the excavator's operation, such as by selecting the performance limits to be achieved based on its expected operating time and / or power output.

[0008] This disclosure provides an excavator. The excavator's electrical system includes: at least one motor for operating the excavator, the at least one motor may include at least one traction motor for driving the excavator across terrain; and battery mounts, each battery mount configured to house at least one battery for supplying power to the at least one motor. The excavator's mechanical control system is configured to determine the number of batteries mounted on the battery mounts. If the number of batteries mounted on the battery mounts reaches at least a normal battery quantity threshold, the mechanical control system operates the excavator within normal performance limits. If the number of batteries mounted on the battery mounts is less than the normal battery quantity threshold, the mechanical control system operates the excavator within adjusted performance limits.

[0009] The mechanical control system can be configured to control the power transmitted by the electrical system to the at least one motor within normal or adjusted performance limits. The mechanical control system can control the electrical system such that the power available to the at least one motor within the adjusted performance limits is less than the power available to the at least one motor within the normal performance limits. Under the adjusted performance limits, the power available to the at least one motor can be reduced proportionally based on the difference between the number of batteries mounted on the battery mount and a normal battery number threshold.

[0010] The power available to the at least one traction motor within the adjusted performance limits may be less than the power available to the at least one traction motor within the normal performance limits. Therefore, within the adjusted performance limits, the excavator's speed traveling on terrain may be lower than its speed within the normal performance limits.

[0011] The excavator may include a main body rotatably mounted on a chassis via a slewing system. The at least one motor may include at least one slewing motor for rotating the main body. The power available to the at least one slewing motor within the adjusted performance limits may be less than the power available to the at least one slewing motor within the normal performance limits. Therefore, within the adjusted performance limits, the slewing speed of the main body around the chassis may be lower than the speed within the normal performance limits.

[0012] The excavator may include a boom arrangement controlled by a hydraulic system. The hydraulic system may include at least one hydraulic pump and / or hydraulic valve for controlling the extension and / or orientation of the boom arrangement. The at least one motor may include at least one pump motor for driving the at least one hydraulic pump. The power available to the at least one pump motor within the adjusted performance limits may be less than the power available to the at least one pump motor within the normal performance limits. Within the adjusted performance limits, the pump power of the hydraulic system used to control the boom arrangement may be lower than the pump power within the normal performance limits.

[0013] The power system may further include at least one auxiliary system. The power available to the at least one auxiliary system within the adjusted performance limits is less than the power available to the at least one auxiliary system within the normal performance limits.

[0014] The power system may further include at least one cable power supply port for connecting to an external power source to supply power to the at least one motor. The mechanical control system may be configured to supply power to the at least one motor simultaneously from the at least one cable power supply port and from at least one battery mounted on the battery mount. The mechanical control system may be further configured to operate the power system according to normal performance limits by receiving power from the at least one cable power supply port if the number of batteries mounted on the battery mount is less than a normal battery quantity threshold.

[0015] The mechanical control system may include a user interface for receiving input from an operator. The mechanical control system may be configured to operate the power system according to normal performance limits once an override input is received on the user interface if the number of batteries installed on the battery mount is less than a normal battery quantity threshold. The mechanical control system may be configured to receive input from the operator on the user interface to determine the battery capacity installed on the battery mount. The user interface may be configured to display to the operator that the mechanical control system is operating under the adjusted performance limits. The user interface may be configured to display the number of batteries to the operator.

[0016] The mechanical control system can be configured to operate the excavator within several different adjusted performance limits. Each different adjusted performance limit may affect the excavator's available operating time, depending on the number of batteries installed in the battery mount. The mechanical control system can be configured to select one of the different adjusted performance limits in response to operator input on the user interface.

[0017] The mechanical control system can be configured to operate the excavator within the adjusted performance limits to account for the adjusted stability of the excavator due to the number of batteries installed on the battery mount being less than the normal battery quantity threshold.

[0018] At least one counterweight may be mounted on at least one battery mount in the battery mounting system. The mechanical control system may be configured to operate the excavator within the adjusted performance limits to adjust the excavator's stability, thereby taking into account situations where the number of batteries and counterweights mounted on the battery mount is less than a normal battery quantity threshold. Within the adjusted performance limits, the maximum speed and / or torque of the at least one rotary motor may be reduced to account for situations where the number of batteries mounted on the battery mount is less than a normal battery quantity threshold.

[0019] This boom arrangement is capable of operating within the normal reach range under normal performance limits and within the restricted reach range under adjusted performance limits. Within the restricted reach range, the maximum reach of this boom arrangement may be less than the maximum reach within the normal reach range.

[0020] Within the adjusted performance limits, the hydraulic system can be operated to reduce the maximum travel speed of the boom arrangement and / or reduce the maximum pressure available for moving the boom arrangement, taking into account situations where the number of batteries mounted on the battery mount is less than the normal battery number threshold.

[0021] The user interface can be configured to display to the operator the normal reach range under the normal performance limit and the restricted reach range under the adjusted performance limit. Within the restricted reach range, the maximum reach of the boom arrangement may be less than the maximum reach within the normal reach range.

[0022] Alternatively or additionally, this disclosure further provides an excavator including a boom arrangement and an electrical system. The electrical system includes: at least one motor for driving the excavator to travel over terrain; at least one battery; and optionally at least one battery interface detachably connectable to the battery and electrically connected to the at least one motor to supply power to the at least one motor. The excavator further includes at least one battery mount configured to optionally receive the at least one battery, such that the at least one battery can be connected to the battery interface. At least one counterweight is mounted on the at least one battery mount. The at least one counterweight is configured to at least partially balance the boom arrangement. The at least one battery may or may not be mounted on the at least one battery mount, and when mounted, the at least one battery and the at least one counterweight are configured to at least partially balance the boom arrangement.

[0023] Each battery mounting bracket may include a mounting bracket connector. The at least one counterweight assembly may include a counterweight connector for engaging with the mounting bracket connector. The at least one battery may include a battery connector for engaging with the mounting bracket connector. Mounting bracket fasteners may be capable of being connected between the counterweight connector and the battery mounting bracket, and also capable of being connected between the battery connector and the battery mounting bracket.

[0024] The weight and / or shape of each of the at least one combination unit may be substantially the same as the weight and / or shape of each of the at least one battery. The at least one battery may include at least one battery and / or fuel cell stack, wherein the at least one battery and / or fuel cell stack each include at least one battery and / or fuel cell.

[0025] In a cable-operated configuration, the electrical system can be connected to an external power source for the excavator, allowing power to be supplied via at least one external power line. In this cable-operated configuration, the electrical system can operate to drive the system across terrain, regardless of whether at least one battery is mounted on at least one battery mount and / or at least one ballast is mounted on at least one battery mount.

[0026] The excavator may include a body rotatably mounted on a chassis, wherein the at least one battery mount is located in a counterweight section of the body. The excavator may include a control system configured to determine whether at least one battery and / or at least one counterweight is mounted on the at least one battery mount.

[0027] Alternatively or additionally, this disclosure further provides a method of operating the excavator described above. The method may include replacing at least one battery mounted on at least one battery mount with at least one counterweight mounted on at least one of the at least one battery mounts to at least partially balance the boom arrangement. Attached Figure Description

[0028] Embodiments of this disclosure will now be described by way of example only, with reference to and as illustrated in the accompanying drawings, wherein:

[0029] Figure 1 This is a schematic perspective view of an excavator based on this disclosure;

[0030] Figure 2 yes Figure 1 A schematic top-down view of an excavator; and

[0031] Figure 3 yes Figure 1 A schematic diagram of the battery installation layout of an excavator. Detailed Implementation

[0032] The following description provides only preferred exemplary embodiments and is not intended to limit the scope, applicability, or configuration of the invention. Rather, the subsequent description of preferred exemplary embodiments will provide those skilled in the art with an enabling description for implementing the preferred exemplary embodiments of the invention. It should be understood that various changes can be made to the function and arrangement of elements, including combinations of features from different embodiments, without departing from the scope of the invention. Specific details are set in the following description to provide a thorough understanding of the embodiments. However, those skilled in the art will understand that the embodiments can be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.

[0033] Furthermore, it should be noted that embodiments can be described as processes depicted as work diagrams, flowcharts, data flow diagrams, structural diagrams, or block diagrams. Although work diagrams may describe operations as sequential processes, many operations may be performed in parallel or simultaneously. Furthermore, the order of operations can be rearranged. When an operation of a process is completed, the process terminates, but may also have additional steps not included in the figures. A process may correspond to a method, function, program, subroutine, subroutine, etc. When a process corresponds to a function, its termination corresponds to the function returning to the calling function or the main function. Furthermore, as disclosed herein, the term "storage medium" can refer to one or more means for storing data, including read-only memory (ROM), random access memory (RAM), magnetic RAM, core memory, disk storage media, optical storage media, flash memory devices, and / or other machine-readable media for storing information. The term "computer-readable medium" includes, but is not limited to, portable or fixed storage devices, optical storage devices, wireless channels, and various other media capable of storing, containing, or carrying instructions and / or data.

[0034] Furthermore, embodiments can be implemented using hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented as software, firmware, middleware, or microcode, program code or code segments for performing necessary tasks can be stored in a machine-readable medium such as a storage medium. The processor can perform the necessary tasks. A code segment can represent any combination of procedures, functions, subroutines, programs, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program statements. A code segment can be coupled to another code segment or hardware circuitry by passing and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc., can be passed, forwarded, or transmitted via any suitable means, including memory sharing, messaging, token passing, network transmission, etc.

[0035] It should be understood that the following disclosure provides many different embodiments or examples for implementing different features of various embodiments. Specific examples of components and arrangements are described below to simplify this disclosure. Of course, these are merely examples and not intended to be limiting. Furthermore, reference numerals and / or letters may be repeated in various instances of this disclosure. Such repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and / or configurations discussed. Additionally, in the following description, the formation of a first feature over a second feature may include embodiments in which the first and second features are formed to be in direct contact, and may also include embodiments in which additional features may be formed to be inserted between the first and second features such that the first and second features may not be in direct contact.

[0036] Excavators are equipped with a counterweight at their rear end to prevent them from tilting forward when operating the stick and / or boom at the front (such as when the stick and boom extend forward from the excavator and engage the ground). Electric excavators can be powered by batteries, connected to an external power source via a tow cable, or through hybrid technology (electric / diesel). For electric excavators, different power arrangements may be preferable depending on the operating conditions. For example, for operation in suburban areas or similar scenarios, connecting the excavator to an external power source via a tow cable may be the most efficient operating mode when an external power source is available. For operation in remote locations, battery or hybrid operation may be required. Furthermore, for tow-powered electric excavators, batteries are typically used to supplement the tow cable power supply and reduce the need for a large cable bundle running through the excavator core to deliver high currents from an external power source (which can be inefficient).

[0037] In some embodiments of this disclosure, the counterweight at least partially comprises a mobile power source including a plurality of batteries, wherein the batteries can be removably positioned at designated locations within the mobile power source. By enabling battery removal, the power output of the mobile power source can be adjusted. For example, if the excavator is scheduled to operate in cable-powered mode, the batteries can be removed from the mobile power source. However, such battery removal may alter the effectiveness of the counterweight, and therefore, in embodiments of this disclosure, the battery location accommodates a counterweight equivalent to the removed batteries to maintain the excavator's balance. The flexibility of the mobile power source allows the excavator to be configured in the most energy-efficient arrangement to achieve its intended operation, and the excavator can be configured to operate in different modes, namely cable-powered mode, non-cable-powered mode, and battery-assisted cable-powered mode.

[0038] Figure 1 An embodiment of an excavator 10 according to the present disclosure is illustrated. This excavator is a working machine used for excavating materials from the ground, terrain, and / or a work site. The excavator 10 may include a body 12 having an operator's cab 8 and a boom arrangement 14 attached to the body 12. The body 12 may include a counterweight section 9 extending from the cab 8 to the boom arrangement 14 on its opposite side.

[0039] The excavator 10 may include a tool 15 connected to a boom arrangement 14 via a coupling arrangement 11. The boom arrangement 14 may include a boom 16, a stick 17, and a linkage arrangement 20 pivotally attached to each other. The coupling arrangement 11 may be mounted to the stick 17 and the linkage arrangement 20. The boom arrangement 14 may include hydraulic actuators 18, 19, and 21 for controlling the orientation and movement of the boom 16, stick 17, and linkage arrangement 20, and thereby controlling the orientation and movement of the coupling arrangement 11 and the tool 15.

[0040] Tool 15 can be any suitable type and can be, for example, a grappling hook as illustrated, or a bucket, a tilting bucket, a tilting rotator, a hammer, a feed arm, a multi-processor, a crusher, a saw, a shear, a blower, a grinder, a tiller, a ditcher, a winch, an auger, a sweeping brush, a cutter, a planer, a pruning machine, a felling head, a topsoil loosener, or a rake.

[0041] The excavator 10 may include a chassis 30 on which the body 12 is rotatably mounted, such as via a slewing system 31. The chassis 30 may include a frame 32 on which at least one wheel and / or track 13 may be mounted for driving the excavator 10 along terrain 33. The slewing system 31 may be mounted on top of the frame 32, and at least one wheel and / or track 13 may be mounted on opposite sides of the frame 32. The slewing system 31 may include at least one slewing motor 70 for rotating the body 12 relative to the chassis 30.

[0042] The excavator 10 may include a hydraulic system 5 for operating the boom arrangement 14 and / or at least one tool 15, and fluid may circulate around the hydraulic system. The excavator 10 may include a mechanical control system 90 (discussed further below) for automatically or based on input received from a user interface 6 to control the hydraulic system 5. The user interface may include input devices, such as joysticks or at least one button, that can be controlled by an operator in the body 12, and may include at least one display, such as a screen or lighting device, for displaying information to the user.

[0043] Hydraulic system 5 may include a hydraulic tank 25, at least one hydraulic pump 26, at least one hydraulic valve (not shown), and / or hydraulic hose 27. Hydraulic system 5 may include at least one hydraulic pump 26 and / or hydraulic valve for controlling the extension and / or orientation of boom arrangement 14. Hydraulic system 5 may include a first hydraulic actuator 18, a second hydraulic actuator 19, and a third hydraulic actuator 21 for controlling the pivoting of boom arrangement 14 and tool 15. Hydraulic system 5 may also include at least one conduit leading to or away from at least one coupling arrangement 11 to communicate fluid to or from at least one coupling arrangement 11 and tool 15.

[0044] Excavator 10 includes electrical system 40 (such as...) Figure 3(As further illustrated), the electrical system includes at least one motor 71, which may include at least one traction motor 41 for driving the excavator 10 to move across the terrain 33. The electrical system 40 may be distributed between the body 12 and the chassis 30 of the excavator 10. The at least one traction motor 41 may be mounted in the chassis 30 and directly or indirectly connected to at least one wheel and / or track 13.

[0045] At least one motor 71 may include at least one pump motor 72, which is configured to drive at least one hydraulic pump 26. At least one motor 71 may include at least one rotary motor 70. At least one traction motor 41, pump motor 72 and / or rotary motor 70 may be separate motors or may be the same at least one motor 71, which is configured to drive the excavator 10 to travel on terrain 33, drive at least one hydraulic pump 26 and / or rotate the body 12 relative to the chassis 30.

[0046] The electrical system 40 may include at least one auxiliary system 73. The auxiliary system 73 may include any suitable auxiliary components that require electricity, such as main lighting, lights in the cab 8, and user interface 6.

[0047] The power system 40 includes at least one battery 45 for supplying power to the power system 40, particularly for driving at least one motor 71, such as at least one traction motor 41. The power system 40 may include multiple such batteries 45.

[0048] Each battery 45 may include at least one battery cell mounted within a battery pack housing 47. At least one battery 46 may include a handle 48 mounted on the battery pack housing 47 for an operator to move at least one battery 46, for example, when installing the battery 46 onto the excavator 10 and removing the battery 46 from the excavator 10.

[0049] The battery 45, or each battery, may include a battery management system 49 that monitors and / or controls the battery 45. The battery management system 49 may include a battery controller, which may include a battery memory and a battery processing unit. The battery memory may store instructions or algorithms in data form, and the battery processing unit may be configured to perform operations based on the instructions. The battery controller may be of any suitable known type. The battery memory may include any suitable computer-accessible or non-transitory storage medium for storing computer program instructions, such as RAM, SDRAM, DDR SDRAM, RDRAM, SRAM, ROM, magnetic media, and optical media. The battery processing unit may include any suitable processor capable of executing the instructions stored in the memory, such as a microprocessor, a single-processor, and a multiprocessor.

[0050] The power system 40 includes at least one battery interface 50, which is detachably connected to at least one battery 45 and electrically connected to at least one motor 71 to supply power from the battery 45 to the at least one motor. The power system 40 may include multiple battery interfaces 50, each for connecting to a separate power source 45 or battery. The battery interface 50, or each battery interface, may include a socket to which the battery 45 can be manually and detachably connected.

[0051] The power system 40 includes at least one cable power supply port 55 for connection to an external power source 74. The at least one cable power supply port 55 enables charging of a battery 45 from the external power source 74 via a battery interface 50. The at least one cable power supply port 55 can also be used to supply power to the power system 40, thereby supplying power to at least one motor 71.

[0052] The excavator includes at least one battery mounting bracket 63. Each battery mounting bracket 63 is configured to receive at least one battery 45 for supplying power to at least one motor 71. Each battery mounting bracket 63 may be configured to receive at least one battery 45 such that at least one battery 45 can be connected to a battery interface 50.

[0053] Specifically, the excavator 10 may include a battery mounting arrangement 60, which includes a compartment 61 for receiving a battery 45. At least one battery mount 63 may be located within the compartment 61. Each battery mount 63 may include a single chamber in the compartment 61 as illustrated. Each chamber may be configured to receive one or more batteries 45, such as each chamber receiving a single battery 46. A battery interface 50 or each battery interface may be mounted within the compartment 61, and the battery interface 50 or each battery interface may be mounted within or located at each battery mount 63. During installation, at least one battery 45 may be connected to at least one battery interface 50.

[0054] Battery casing 60 can be like Figure 1 and Figure 2 The illustrated mounting is in the main body 12, and specifically, it can be mounted in the counterweight section 9. The counterweight section 9 may be a portion of the main body 12 located at the center of rotation of the main body 12 relative to the chassis 30 about the slewing system 31, on the opposite side of the boom arrangement 14. Thus, when at least one battery 45 is mounted in the battery pack housing 60, at least one battery 45 can be used to balance the weight of at least the boom arrangement 14 on the slewing system 31, and optionally also balance the weight of the tool 15, any items carried by the tool 15, and at least a portion of the main body 12.

[0055] At least one counterweight 80 may be mounted in at least one battery mounting bracket 63. The at least one counterweight 80 is used to replace at least one battery 45 for use or installation to balance the weight of any items carried by the boom arrangement 14 and tool 15. The at least one counterweight 80 may include a mass block that does not store or supply electrical energy and does not have the ability to connect to or supply electrical energy to at least one battery interface 50. Therefore, the sole function of the at least one battery 45, implemented by the at least one counterweight 80, is to provide counterweight during the operation of the excavator 10.

[0056] The weight and / or shape of each of the at least one combination unit 80 may be substantially the same as the weight and / or shape of each of the at least one battery 45. Therefore, the combination unit 80 or each combination unit is assembled within each battery mounting base and / or mounted to each battery mounting base in the same manner as the battery 45 or each battery. They may be interchangeable if necessary. Each combination unit 80 and each battery 45 may be capable of being moved into place by a crane.

[0057] Each battery mount 63 may include a mount engagement, such as a fastener for bolts or other quick-release fitting. At least one counterweight 80 may include a counterweight engagement for engaging with the mount engagement. At least one battery 45 may include a battery engagement for engaging with the mount engagement. Mount fasteners may be able to connect between the counterweight engagement and the battery mount, and between the battery engagement and the battery mount. The battery engagement and the mount engagement may be substantially identical, such that they can interchangeably engage with the mount engagement, regardless of whether they have mount fasteners. The mount fasteners may be bolts and nuts, and the battery engagement, counterweight engagement, and mount engagement may include channels for receiving the bolts and nuts.

[0058] The excavator 10 may include a mechanical control system 90. The mechanical control system 90 may be configured to perform the methods of this disclosure. The mechanical control system 90 may include a mechanical controller, which may include a mechanical memory and a mechanical processing unit. The mechanical memory may store instructions or algorithms in data form, and the mechanical processing unit may be configured to perform operations based on the instructions. The mechanical controller may be any suitable known type and may include an engine control unit (ECU), etc. The mechanical memory may include any suitable computer-accessible or non-transitory storage medium for storing computer program instructions, such as RAM, SDRAM, DDR SDRAM, RDRAM, SRAM, ROM, magnetic media, and optical media, etc. The mechanical processing unit may include any suitable processor capable of executing the instructions stored in the memory, such as a microprocessor, a single-processor, and a multiprocessor, etc. The mechanical controller may further include a graphics processing unit for rendering objects for viewing on a display of the mechanical control system. The mechanical controller may also communicate with an external computing system via wired or wireless networks, such as Ethernet, fiber optics, satellite communication networks, broadband communication networks, cellular networks, Bluetooth, etc. The external computing system may include a computing system, processor, server, memory, database, and control system, etc.

[0059] The mechanical control system 90 can be communicatively connected (via wired or wireless connection) to the electrical system 40 and the hydraulic system 5 to provide control signals to them and receive sensor signals from them in order to control the operation of the excavator 10. The mechanical control system 90 can communicate with the user interface 6 to receive input, control the excavator 10, and display information to the operator.

[0060] The mechanical control system 90 may include necessary power electronic devices for controlling the exchanged power and / or regulating the electrical energy exchanged between at least one battery 45, at least one cable power supply port 55, and at least one motor 71. Specifically, the mechanical control system 90 may include a motor controller unit, at least one inverter, at least one sensor, and / or any other suitable power electronic devices. The mechanical control system 90 can control the frequency, current, and / or voltage of the electricity in the power system 40.

[0061] The mechanical control system 90 can be configured to determine the number (i.e., quantity) of batteries 45 installed on the battery mounting bracket 63. The battery mounting bracket 63 can only store a maximum number of batteries 45, such as a limited number of batteries 45 that can be installed on the battery mounting bracket 63. The mechanical control system 90 can store a normal battery quantity threshold, which can be the normal number of batteries 45 installed on the battery mounting bracket 63 required for the excavator to operate within normal performance limits (as discussed further below). The normal battery quantity threshold can be the maximum number of batteries 45 that can be installed on the battery mounting bracket 63. Alternatively, the normal battery quantity threshold can be less than the maximum number of batteries 45, such as when there is already redundancy in the maximum number of installed batteries 45.

[0062] The mechanical control system 90 can be configured to determine the number of batteries 45 mounted on the battery mounting base 63 by determining whether at least one battery 45 and / or at least one coupling assembly 80 is mounted on the battery mounting base 63 or each battery mounting base. Specifically, the mechanical control system 90 can communicate with the battery management system 49 when the battery 45 is connected to the battery interface 50. The battery controller and the mechanical controller can be configured to communicate with each other. The mechanical controller can be configured to query the battery controller and / or receive a verification signal from the battery controller to identify the battery. Such verification can be performed during the startup sequence and / or periodically throughout use. The verification signal can be a heartbeat message indicating whether the battery is connected.

[0063] The mechanical control system 90 can be configured to determine whether at least one battery 45 is installed on the battery mounting base 63 by querying the battery management system 49. Based on such queries, the mechanical control system 90 can determine information such as installed energy, state of charge, and health status associated with each battery 45. If no verification signal is received, the mechanical control system 90 can determine that the battery 45 is not present and / or an alternative reassembly is installed on the battery mounting base 63. If a verification signal is received, the mechanical control system 90 can determine that the battery 45 is installed on the battery mounting base 63.

[0064] Alternatively, the mechanical control system 90 can be configured to determine whether at least one battery 45 and / or at least one coupling unit 80 is mounted on at least one battery mounting base 63 by receiving input from the operator at the user interface 6. Specifically, the operator may be able to instruct the configuration of the battery 45 and / or coupling unit 80 via the user interface 6.

[0065] Alternatively, the mechanical control system 90 may be configured to determine whether at least one battery 45 and / or at least one combination unit 80 is mounted on at least one battery mounting base 63 by receiving the configuration of the existing battery 45 and / or combination unit 80 from an external computing system.

[0066] The mechanical control system 90 can be configured to operate the excavator 10 within normal performance limits if the number of batteries 45 installed on the battery mount 63 is at least at the normal battery quantity threshold, and to operate the excavator 10 within adjusted performance limits if the number of batteries 45 installed on the battery mount 63 is less than the normal battery quantity threshold. In practice, the mechanical control system 90 can allow the excavator 10 to operate at its expected performance level (i.e., normal performance limits), but if the number of installed batteries is less than the full battery quantity, the mechanical control system 90 can reduce the performance of the excavator 10, or at least provide the operator with the option to operate at reduced performance.

[0067] In summary, the mechanical control system 90 can adjust the performance limits by: (a) adjusting the available power in the electrical system 40 (such as the power for at least one motor 71) to take into account the reduction in the available power of the battery 45; (b) adjusting the stability of the excavator 10 to take into account the reduction in counterweight on the battery mount 63 due to the reduction in the number of batteries 45; and / or (c) providing information to the operator via the user interface 6 and receiving input from the operator to allow the operator to determine how the mechanical control system 90 should adjust the performance limits in view of the reduction in the number of batteries 45.

[0068] The mechanical control system 90 can control the power transmitted from the electrical system 40 to at least one motor 71 within normal or adjusted performance limits. Specifically, the mechanical control system 90 can control the power transmitted from at least one battery 45 mounted on at least one battery mount in the battery mount 63 and / or from at least one cable power supply port 55 to at least one motor 71.

[0069] When operating within adjusted performance limits, the mechanical control system 90 can control the electrical system 40 such that the power available to at least one motor 71 is less than the power available to at least one motor 71 when operating within normal performance limits. Therefore, if the number of batteries 45 mounted on the battery mounting base 63 is less than the normal battery quantity threshold, the mechanical control system 90 can limit the power supplied to at least one motor 71.

[0070] When operating within adjusted performance limits, the mechanical control system 90 can proportionally reduce the available power of at least one motor 71 based on the difference between the number of batteries 45 mounted on the battery mounting base 63 and a normal battery number threshold. Therefore, for example, if the number of batteries 45 mounted on the battery mounting base 63 is 25% less than the normal battery number threshold, the available power can be reduced by 25%.

[0071] When operating within the adjusted performance limits, the mechanical control system 90 can adjust the power available to at least one traction motor 41, rotary motor 70, pump motor 72 and / or auxiliary system 73 to be less than the power available to at least one traction motor 41, rotary motor 70, pump motor 72 and / or auxiliary system 73 when operating within the normal performance limits by the mechanical control system 90.

[0072] The maximum available power of at least one traction motor 41, swing motor 70, pump motor 72, and / or auxiliary system 73 may be reduced. Therefore, within the adjusted performance limits, the maximum speed at which the excavator 10 travels across terrain may be lower than the maximum speed within the normal performance limits. Within the adjusted performance limits, the maximum swing speed of the body 12 around the chassis 30 may be lower than the maximum swing speed within the normal performance limits. Within the adjusted performance limits, the maximum pump power of the hydraulic system 5 used to control the boom arrangement 14 may be lower than the maximum pump power within the normal performance limits. The operation of the auxiliary system 73 at maximum power may also be reduced, such as by preventing multiple systems from operating simultaneously (e.g., preventing the main lighting from being turned on).

[0073] Within a predetermined time period, the average power available to at least one traction motor 41, rotary motor 70, pump motor 72, and / or auxiliary system 73 may decrease. Therefore, short-duration high-power operation may only be available if there is a low-power operation period before or after the short period within the predetermined time period.

[0074] When adjusting the performance of the excavator 10 to account for a situation where the number of batteries 45 is less than the normal battery quantity threshold, the mechanical control system 90 can also consider whether power is being received from an external power source 74 via at least one tow cable power supply port 55. Specifically, the mechanical control system 90 can be configured to supply power to at least one motor 71 from at least one tow cable power supply port 55 and optionally simultaneously from at least one battery 45 mounted on the battery mount 63. The at least one tow cable power supply port 55 can be configured to receive such power from the external power source 74. If any battery 45 is mounted on the battery mount 63, the mechanical control system 90 can receive power from it to supplement the power from the at least one tow cable power supply port 55, or vice versa.

[0075] If the excavator 10 is connected to an external power source 74 via a tow cable, the excavator can operate according to normal performance limits even if the number of batteries 45 mounted on the battery mount 63 is less than a normal battery quantity threshold. Therefore, the mechanical control system 90 can be further configured to operate the electrical system 40 according to normal performance limits by receiving power from at least one tow cable power supply port 55 and optionally simultaneously from at least one battery 45 mounted on the battery mount 63 if the number of batteries 45 mounted on the battery mount 63 is less than the normal battery quantity threshold. The total power supplied by at least one tow cable power supply port 55, plus optionally any power from any battery 45 mounted on the battery mount 63, may be sufficient to enable the excavator 10 to operate normally.

[0076] As mentioned above, the mechanical control system 90 is also configured to operate the excavator 90 within the adjusted performance limits to take into account the adjusted stability of the excavator 10 due to the number of batteries 45 mounted on the battery mount being less than the normal battery number threshold.

[0077] If the mechanical control system 90 determines that all battery mounts 63 have batteries 45 or assemblies 80 mounted thereon, the mechanical control system 90 may not adjust the performance limits to adjust the stability of the excavator 10, because the stability of the excavator will not change compared to the presence of a fully equipped battery 45.

[0078] The number of batteries 45 installed on battery mount 63 may also explain the number of couplings 80 installed on battery mounts. If at least one coupling 80 is installed on at least one battery mount in battery mount 63, the mechanical control system 90 can be configured to operate the excavator 10 within adjusted performance limits to adjust the stability of the excavator 10, thereby taking into account the case where the number of batteries 45 and couplings 80 installed on battery mount 63 (the number of batteries 45 may be zero) is less than the normal battery number threshold.

[0079] The mechanical control system 90 can adjust the performance limits in any suitable manner to ensure that the excavator 10 remains stable and, for example, at a low level of risk of rollover.

[0080] When operating within adjusted performance limits, the mechanical control system 90 can reduce the speed and / or torque (preferably, maximum speed and / or torque) of at least one traction motor 41 and / or swing motor 70 to account for a situation where the number of batteries 45 and / or ballast units 80 mounted on the battery mount 63 is less than the normal battery quantity threshold. Therefore, the momentum of the excavator 10, the body 12, and / or the boom arrangement 14 can be reduced, thereby improving the stability of the excavator 10 and reducing the risk of tipping over.

[0081] When operating within normal performance limits, the mechanical control system 90 can operate the boom arrangement 14 and / or tool 15 within its normal extension range. The extension range defines the maximum permissible external extension of the boom arrangement 14 and / or tool 15, and can reach its maximum value within the normal extension range. When operating within adjusted performance limits, the mechanical control system 90 can operate the boom arrangement 14 and / or tool 15 within the adjusted extension range. In the restricted extension range, the maximum extension of the boom arrangement 14 and / or tool 15 may be less than the maximum extension in the normal extension range. Therefore, when the battery 45 and / or the ballast 80 is less than the normal battery quantity threshold, the mechanical control system 90 can ensure that the boom arrangement 14 and / or tool 15 does not overextend, thus preventing an increased risk of rollover.

[0082] When operating within the adjusted performance limits, the mechanical control system 90 may operate the hydraulic system 5 to reduce the maximum travel speed of the boom arrangement 14 and / or the tool 15 and / or reduce the maximum pressure available for moving the boom arrangement 14 and / or the tool 15, to account for cases where the number of batteries 45 and / or assemblies 80 mounted on the battery mount 63 is less than the normal battery number threshold.

[0083] The mechanical control system 90 can also be configured to receive input from the operator via the user interface 6, and to display information to the operator via the user interface 6 when it is determined whether the excavator is operating within normal performance limits or adjusted performance limits. Specifically, if the available battery 45 is sufficient to maintain operation within normal performance limits, even for a short period of time, the operator can also override the implementation of adjusted performance limits.

[0084] Therefore, the mechanical control system 90 can be configured to operate the power system 40 according to normal performance limits once an override input is received on the user interface 6 if the number of batteries 45 installed on the battery mounting base 63 is less than the normal battery number threshold.

[0085] User interface 6 can be configured to display to the operator that the mechanical control system 90 is operating under adjusted performance limits, and can provide the operator with the opportunity to override such operation. User interface 6 can also be configured to display to the operator the number of batteries 45 present.

[0086] The mechanical control system 90 can be configured with a user interface 6 to display to the operator the normal range of extension under normal performance limits, and to display to the operator the restricted range of extension under adjusted performance limits. Such a display can serve as a supplement to or alternative to the mechanical control system 90 limiting operation to the restricted range of extension—that is, enabling the restricted range of extension to be controlled and / or enabling the operator to have full control over the operation while displaying the restricted range of extension to them.

[0087] The operator can select different performance limits implemented by the mechanical control system 90 based on the expected operating time under different performance limits, especially when it is not necessary to receive power at at least one tow cable power supply port 55 for operation. Therefore, the operator can choose between a performance limit with higher power and shorter operating time and a performance limit with lower power and longer operating time.

[0088] The mechanical control system 90 can be configured to operate the excavator 10 within a plurality of different adjusted performance limits. Each different adjusted performance limit may include a different adjusted power level available to at least one motor 71, which is less than the power available to at least one motor 71 when operating within normal performance limits. Thus, by making different power levels available, each different adjusted performance limit has a different operating time before the available energy in the battery 45 is depleted.

[0089] Multiple different adjusted performance limits can be displayed to the operator via the user interface 6. The operator can provide input to the user interface 6 to select at least one of the different adjusted performance limits based on the appropriate operating time and adjusted power level required for the excavator 10 to perform its work.

[0090] Industrial applicability

[0091] Battery 45 may need to be removed for servicing or recharging. Alternatively, there may not be enough fully charged batteries 45 available to fill or install on each battery mount 63. However, if batteries 45 are not present on each battery mount 63, the excavator 10 may not operate correctly, such as because the batteries 45 may become unbalanced due to lack of counterweight effect, and / or the excavator may not have sufficient available power to operate within its normal performance limits.

[0092] Therefore, in order to maintain the stable operation of the excavator, at least one battery 45 mounted on at least one battery mounting bracket 63 can be replaced with at least one counterweight 80. At least one counterweight 80 can provide the necessary balance for any items carried by the boom arrangement 14 and tools 15, so that the excavator 10 can operate effectively, just as if at least one battery 45 were mounted on each of the at least one battery mounting bracket 63.

[0093] If the number of ballast units 80 and / or batteries 45 mounted on battery mount 63 is insufficient to reach the normal battery quantity threshold, the mechanical control system 90 will operate the excavator 90 within adjusted performance limits to take into account the adjusted stability of the excavator 10. Specifically, the mechanical control system 90 may limit the movement speed of the excavator 10, slewing system 31, boom arrangement 14, and / or tool 15 to reduce movement momentum and thus improve stability.

[0094] If battery 45 is unavailable, the mechanical control system 90 can implement adjusted performance limits to restrict the power available to at least one traction motor 41, swing motor 70, pump motor 72, and / or auxiliary system 73. Therefore, the excavator 10 can still operate to a certain extent even without a fully charged battery. However, the maximum power and / or operating time of the electrical system 40 may be reduced.

[0095] The operator can achieve different adjusted performance limits to obtain the desired operating time and / or power output, or override the implementation of the adjusted performance limits so that the excavator 10 operates according to the normal performance limits. In this way, the operator can flexibly operate the excavator 10 if the operator determines that the battery capacity is sufficient for them to perform the required work.

[0096] Furthermore, the excavator 10 can operate in a cable-powered configuration without any batteries 45 installed therein or with only some batteries 45 installed therein. In the cable-powered configuration, the power system 40 can be connected to an external power source for the excavator 10, allowing power to be supplied to the power system 40 via at least one external power cable.

[0097] When in cable-operated mode and receiving sufficient power from external power source 74 and / or any installed battery 45, the excavator 10 can operate within its normal performance limits. For example, if the electrical system 40 requires 100kW to operate within its normal performance limits, but external power source 74 can only provide 75kW, the mechanical control system 90 can draw power from the 25kW capacity battery 45 mounted on battery mount 63, thus enabling the normal performance limits to be met.

[0098] In the cable-powered configuration, the power system 40 is capable of operating to drive the excavator 10 and / or operate at least one boom arrangement 14 and / or tool 15, regardless of whether at least one battery 45 is mounted on at least one battery mount 63 and / or at least one ballast assembly 80 is mounted on at least one battery mount 63.

[0099] Since each of the at least one battery mount 63 has a battery 45 mounted thereon and / or a balancing unit 80, the excavator 10 can operate effectively in a cable-powered configuration, in which any items carried by the boom arrangement 14 and the tools 15 can be properly balanced.

Claims

1. An excavator, the excavator comprising: boom arrangement; The power system includes: At least one motor, said at least one motor being used to operate the excavator; At least one battery; and At least one battery interface, which is detachably connected to the battery and electrically connected to the at least one motor in order to supply power to the at least one motor; At least one battery mounting bracket, the at least one battery mounting bracket being configured to receive the at least one battery such that the at least one battery can be connected to the battery interface; and At least one balancing unit is mounted on the at least one battery mount such that the at least one balancing unit is configured to at least partially balance the boom arrangement.

2. The excavator of claim 1, wherein each battery mount includes a mount connector, the at least one counterweight includes a counterweight connector for engaging with the mount connector, and the at least one battery includes a battery connector for engaging with the mount connector.

3. The excavator according to claim 1 or claim 2, wherein the mounting fastener is capable of being connected between the counterweight connector and the battery mounting base and is also capable of being connected between the battery connector and the battery mounting base.

4. The excavator according to any one of the preceding claims, wherein the weight and / or shape of each of the at least one ballast unit is substantially the same as the weight and / or shape of each of the at least one battery.

5. The excavator according to any one of the preceding claims, wherein the at least one battery comprises at least one battery and / or a fuel cell stack, and the at least one battery and / or fuel cell stack each comprises at least one battery and / or a fuel cell.

6. The excavator according to any one of the preceding claims, wherein the electrical system, in a cable-driven configuration, is connectable to an external power source via at least one external power line to supply power to the electrical system, wherein, in the cable-driven configuration, the electrical system is capable of operating to drive the system across terrain, regardless of whether at least one battery is mounted on at least one battery mount and / or at least one ballast is mounted on at least one battery mount.

7. The excavator according to any one of the preceding claims, the excavator comprising a body rotatably mounted on a chassis, wherein the at least one battery mount is located in a counterweight section of the body.

8. The excavator according to any one of the preceding claims, the excavator further comprising a control system configured to determine whether at least one battery and / or at least one ballast is mounted on the at least one battery mount.

9. The excavator according to any one of the preceding claims, wherein the at least one battery is mounted on the at least one battery mount or is not mounted on the at least one battery mount.

10. A method of operating an excavator, the excavator comprising: boom arrangement; The power system includes: At least one motor, said at least one motor for driving the excavator to move across the terrain; and At least one battery interface, which is detachably connected to a battery and electrically connected to the at least one motor in order to supply power to the at least one motor; At least one battery mounting bracket, each battery mounting bracket being configured to receive the at least one battery, such that the at least one battery can be connected to the battery interface. The method includes: At least one battery mounted on at least one battery mount is replaced with at least one counterweight mounted on at least one of the at least one battery mounts to at least partially balance the boom arrangement.

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