Electric engineering machinery driving system

Abstract

The invention relates to the technical field of electric driving equipment, in particular to an electric engineering machinery driving system which comprises a control part and an execution part connected with the control part, the control part comprises a main control system, a motor driver, a battery and power management system and a thermal management system, and the execution part comprises a rotary actuator and a linear actuator. The main control system is respectively connected with the motor driver, the battery and power supply management system and the thermal management system, the motor driver is respectively connected with the battery and power supply management system, the rotary actuator and the linear actuator, and the system is further provided with a circulating system which is in control connection with the thermal management system. The circulation system is a liquid cold and hot closed circulation loop with a temperature control monitoring function and a heat exchange function, and the linear actuator is provided with a heat conduction containing cavity and is connected with the circulation loop of the circulation system.

Description

Technical Field

[0001] This invention belongs to the field of electric drive equipment technology, specifically an electric engineering machinery drive system. Background Technology

[0002] Traditional fuel-powered construction machinery suffers from a lengthy energy conversion path, from the chemical energy of diesel combustion to mechanical energy, and then to hydraulic energy, with an overall efficiency of only about 10%. Electrified hydraulics, through its direct drive architecture of "battery-motor-hydraulic pump," has fundamentally changed this landscape. In the electrification 1.0 stage, simply replacing the diesel engine with "battery + motor + main pump" while retaining the centralized hydraulic architecture increased the overall system efficiency to 22% and reduced operating costs by over 45%. This technology has been widely applied to mainstream equipment such as loaders and excavators, becoming a pioneer in market adoption. However, technological evolution has never stopped, and electrified hydraulics continues to break through along a three-tiered path of "power replacement—partial electrification—full distribution." Entering the 2.0 stage, the walking and turning systems were the first to be electrified, with electric motor reducers replacing hydraulic motors. The integration of multi-way valves decreased, forming a semi-distributed layout. The full electrification of the 3.0 stage uses electro-hydraulic actuators (EHA) and electric cylinders (EMA) as the driving method, and has spawned robotic applications such as the Boston Dynamics robot dog. This integrates micro-motors with high-speed pumps, driving the actuators point-to-point. Although this eliminates the throttling losses of the central oil circuit, it is essentially still a hydraulic cylinder carrying the structure of a small, electrically driven hydraulic system. It remains bulky, and problems with heat dissipation and leakage cannot be overcome. Furthermore, many other issues exist: [The text abruptly shifts to a different topic] Industrial robots generally operate in harsh environments, including dust, mud, deep water, and extreme temperature differences. Their working conditions are even more severe, involving high vibration, high frequency, high heat, and high impact. Their complex piping systems and control circuit components are also subject to high-pressure damage or leakage. Different models and sizes of construction machinery make it difficult to match the overall power and actuators, resulting in poor versatility and hindering widespread adoption. This presents numerous drawbacks, as the impact on the operation, energy consumption, and lifespan of actuators and components cannot be fundamentally controlled. Therefore, based on the above problems, a new electric drive solution is needed to meet the needs of construction machinery and adapt to the current rapidly developing 4.0 electrification and hydraulic drive revolution. Summary of the Invention

[0003] In order to solve the problems of energy-saving, intelligent driving and control of construction machinery under the green power revolution, this invention provides an electric construction machinery drive system.

[0004] This invention adopts the following technical solution: an electric engineering machinery drive system, comprising a control part and an execution part connected thereto, characterized in that: the control part includes a main control system, a motor driver, a battery and power management system, and a thermal management system; the execution part includes: a rotary actuator and a linear actuator; the main control system is connected to the motor driver, the battery and power management system, and the thermal management system respectively; the motor driver is connected to the battery and power management system, the rotary actuator, and the linear actuator respectively; a circulation system controlled and connected by the thermal management system is also provided, the circulation system being a closed-loop liquid hot and cold circulation loop with temperature control and monitoring functions and heat exchange; the linear actuator is provided with a heat-conducting cavity and connected to the circulation loop of the circulation system; and there are several linear actuators. The self-contained linear electro-hydraulic actuator includes a cylinder, a piston rod integrating the rod and piston, a power source built into the piston, a rotatable splined shaft, and a servo motor. The piston rod has a cavity that is divided into a rodless cavity and a pre-cooling cavity by a small piston. The piston rod divides the cylinder cavity into a rod cavity and a post-cooling cavity. The splined shaft passes through the power source and is movably connected to the small piston. The servo motor drives the splined shaft to rotate forward and backward, causing the power source to output pressure to the rod cavity and the rodless cavity. The rod cavity and the rodless cavity have equal cross-sectional areas. The cylinder has an inlet and an outlet for connecting to the circulation system. The pre-cooling cavity and the post-cooling cavity are both heat-conducting cavities and form part of the cooling circuit. The pre-cooling cavity and the post-cooling cavity can change volume with the extension and retraction of the piston rod to provide auxiliary driving force for the circulating fluid.

[0005] The structure of the self-contained linear electro-hydraulic actuator is as follows: The self-contained linear electro-hydraulic actuator has lugs at the front and rear; the piston has a built-in power source, which is either gear-type or plunger-type; a splined shaft is fixedly installed at the bottom of the cylinder, passing through the power source and movably connected to the small piston, driving the power source; a channel is provided inside the splined shaft, and a backlash channel is pre-set between the splined shaft and the splined hole in the power source drive shaft; an oil passage is provided on the piston rod body; a servo motor is located on one side of the bottom of the cylinder, and a transmission mechanism is provided at the tail end of the splined shaft to drive the servo motor drive shaft; a channel is provided in the cylinder body connecting to the splined shaft's channel; the coolant or lubricant of the circulation system sequentially enters the cylinder body channel, channel, front cooling chamber, backlash channel, and rear cooling chamber before being led out, forming a complete cooling circuit.

[0006] The circulation system includes a main circulation system and a refrigeration circulation system. The main circulation system is connected to the cooling circuit of the self-contained linear electro-hydraulic actuator. The main circulation system includes a main circulation pressure sensor, a main circulation temperature sensor, and a first heat exchanger installed on the main circulation loop. The refrigeration circulation system is connected to the first heat exchanger.

[0007] A second heat exchanger is also installed on the main circulation loop. The circulation system also includes a cooling circulation system, which is connected to the second heat exchanger.

[0008] A heater is installed on the main circulation loop, and the thermal management system is connected to the battery and power management system and the heater.

[0009] It also includes a closed enclosure, which is installed on the chassis or body of the electric engineering machinery. The control unit is installed inside the closed enclosure, and the circulation system is installed inside the closed enclosure. The closed enclosure has a watertight door. It also includes an external operating platform, a cloud backend, and a monitoring system. The main control system is connected to the external operating platform, the cloud backend, and the monitoring system.

[0010] The main circulation system also includes: a circulation pump set, a check valve, a volume compensator, and a filter installed on the loop connecting the inlet and outlet. Check valves are installed at the outlet and inlet of the circulation pump set and connected to the volume compensator. A main circulation pressure sensor and a main circulation temperature sensor are installed at the inlet and outlet respectively. The thermal management system is connected to the main circulation pressure sensor, the main circulation temperature sensor, the circulation pump set, the battery, and the power management system respectively.

[0011] A connecting valve is installed between the inlet and outlet of the self-contained linear electro-hydraulic actuator connected to the main circulation system.

[0012] The heat exchanger is the first heat exchanger. The refrigeration cycle system includes: a compressor, expansion valve one, expansion valve two, refrigeration circuit pressure sensor, refrigeration circuit temperature sensor, and air-cooled condenser, with refrigeration circuit pressure sensor and refrigeration circuit temperature sensor installed at both the inlet and outlet. The enclosed housing has a watertight door corresponding to the air-cooled condenser. The thermal management system is connected to the compressor, refrigeration circuit pressure sensor, refrigeration circuit temperature sensor, and air-cooled condenser. The compressor is connected to the battery and power management system.

[0013] Furthermore, it also includes a closed enclosure, a second heat exchanger, and a cooling circulation system including: a second cooling pump group, a switching valve, heat sinks, and a thermal management system connected to the second cooling pump group, the switching valve, and the heat sinks attached to the wall of the closed enclosure. The second cooling pump group is connected to the battery and power management system.

[0014] The self-contained linear electro-hydraulic actuator is equipped with a displacement sensor, a pressure sensor, and a temperature sensor, and feeds back the pressure, displacement, and temperature signals to the main control system.

[0015] Linear actuators may also include: electric cylinders and / or ordinary hydraulic cylinders as auxiliary linear actuators; rotary actuators include: electric motors, servo motors, and electric motors and servo motors equipped with drive-connected reducers.

[0016] The monitoring system is located outside a closed enclosure and includes at least one of the following: a lifting camera system, comprising a lifting rod and a camera mounted on top of the lifting rod, the lifting rod being a telescopic structure, which can be an electric cylinder or a self-contained linear electro-hydraulic actuator; and a drone system, comprising an openable, sealed, waterproof storage shell and a drone housed within the storage shell, the drone being in a waterproof storage state when the storage shell is closed and capable of taking off to perform monitoring tasks when the storage shell is open; the monitoring system transmits visual monitoring data to the main control system wirelessly.

[0017] Electric construction machinery drive systems can be applied to one of the following: excavators, forklifts, and loaders.

[0018] Electric engineering machinery drive systems can be applied to one of the following types of robots: humanoid robots, multi-legged robots, and wheeled robots.

[0019] Compared with the prior art, the present invention can achieve the following technical effects: This invention realizes a technological revolution and industrial upgrading in the electrification of engineering machinery or robots.

[0020] This invention abandons the use of electric cylinders or electro-hydraulic actuators as linear drive methods, and discards the current inefficient and energy-consuming power transmission path of battery-engine or motor-hydraulic system-actuator. It adopts a distributed drive layout, reconstructs the core execution system, and reshapes the energy chain of the equipment by addressing the core issues of energy control and energy consumption of actuators under heavy-duty environments. The deep integration of hydraulic and electrification technologies results in higher energy efficiency, more precise control, and lower total life-cycle costs, defining a core path for the green upgrade of heavy-duty equipment. It achieves technical universality and adaptability for different equipment structures, models, scenarios, and working conditions, promoting the comprehensive transformation of construction machinery and robotic equipment. Control is entirely achieved through electric drive with optimized control logic, employing AI analysis and management, and facilitating AI-based group control, realizing the integrated connection of big data and AI intelligent agents with machinery. This invention is not merely a change in technological approach, but a reconstruction of industrial value—transforming equipment from "energy-consuming giants" to "energy-saving pioneers," and from "mechanical tools" to "intelligent terminals." With the continuous breakthroughs in electro-hydraulic fusion technology and artificial intelligence technology, construction machinery using the self-contained linear electro-hydraulic actuator drive system of this invention will surely usher in a new era of cleaner, more efficient, and more intelligent technology, injecting continuous power into green construction and sustainable development. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the system composition of the present invention; Figure 2 This is a schematic diagram of the self-contained linear electro-hydraulic actuator of the present invention; Figure 3This is a partial cross-sectional schematic diagram of the power source and splined shaft in a self-contained linear electro-hydraulic actuator. Figure 4 This is a schematic diagram of the excavator structure of the present invention; Figure 5 yes Figure 4 Left view; Figure 6 This is a schematic diagram of the forklift structure of the present invention; Figure 7 This is a schematic diagram of the loader structure of the present invention; Figure 8 yes Figure 7 Top view; Figure 9 This is a structural block diagram and schematic diagram of the humanoid or multi-legged, wheeled robot of the present invention; Figure 10 This is a block diagram and schematic diagram of the intelligent group control management system of the present invention.

[0022] The components are as follows: 1-Enclosed enclosure; 2-Battery and power management system; 3-Battery temperature control and protection layer; 4-Watertight door; 5-Linear actuator; 6-Rotary actuator; 7-Monitoring system; 8-External operating platform; 9-Main control system; 10-Motor driver; 11-Heat sink; 12-Thermal management system; 13-Circulating pump set; 14-Check valve; 15-Volume compensator; 16-Stop valve; 17-Main circulation temperature sensor; 18-Main circulation pressure sensor; 19-Outlet. Filter, 20-First heat exchanger, 21-Second heat exchanger, 22-Inlet filter, 23-Second cooling pump set, 24-Switch valve, 25-Compressor, 26-Expansion valve one, 27-Expansion valve two, 28-Refrigeration circuit pressure sensor, 29-Refrigeration circuit temperature sensor, 30-Air condenser, 31-Self-contained linear electro-hydraulic actuator, 32-Motor, 33-UAV system, 34-Lifting mast, 35-Camera, 36-Heater, 37-Connecting valve 3101-Power source, 3102-Splined shaft, 3103-Rod chamber, 3104-Rodless chamber, 3105-Aftercooler chamber, 3106-Backlash channel, 3107-Channel, 3108-Servo motor, 3109-Oil passage, 3110-Front cooler chamber. Detailed Implementation

[0023] like Figure 1-10As shown, the electric construction machinery drive system includes a control section and an execution section. The control section includes a main control system 9, a motor driver 10, a battery and power management system 2, and a thermal management system 12. The execution section includes a rotary actuator 6 and a linear actuator 5. To further improve control performance, an external operating platform 8 and a monitoring system 7 are also provided. The main control system 9 is connected to the motor driver 10, the battery and power management system 2, the thermal management system 12, the external operating platform 8, and the cloud backend. The motor driver 10 is connected to the battery and power management system 2, the rotary actuator 6, and the linear actuator 5. The monitoring system 7 is connected to the external operating platform 8. The control section is housed within a closed enclosure 1, which is mounted on the chassis or body of the electric construction machinery. The closed enclosure 1 also houses the main circulation system and the refrigeration circulation system. The system includes a cooling circulation system and a closed enclosure 1 made of thermally conductive thin metal sheet. The main circulation system includes: a circulation pump group 13, a check valve 14, a main circulation pressure sensor 18, a main circulation temperature sensor 17, a volume compensator 15, a filter, and a heater 36, all connected to the inlet and outlet of the circulation pump group 13. Check valves 14 are installed at the outlet and inlet of the circulation pump group 13 and connected to the volume compensator 15. A main circulation pressure sensor 18 and a main circulation temperature sensor 17 are installed at the inlet and outlet respectively. The heat exchangers include: a first heat exchanger 20 and a second heat exchanger 21. The filters include: an outlet filter 19 and an inlet filter 22. The filters are equipped with differential pressure transmitters. A shut-off valve 16 is installed on the circuit for liquid replenishment and has a reserved external interface. A connecting valve 37 is installed between the inlet and outlet of the main circulation system. The connecting valve 37 is normally closed when de-energized.

[0024] The thermal management system 12 is connected to the main circulation pressure sensor 18, the main circulation temperature sensor 17, the circulation pump group 13, the battery and power management system 2, and the heater 36, respectively. The filter differential pressure transmitter is also connected to the circulation pump group 13.

[0025] The refrigeration cycle system includes: a compressor 25, an expansion valve 26, an expansion valve 27, a refrigeration circuit pressure sensor 28, a refrigeration circuit temperature sensor 29, and a fan condenser 30, with a refrigeration circuit pressure sensor 28 and a refrigeration circuit temperature sensor 29 installed at both the inlet and outlet. The enclosed housing 1 has a watertight door 4, which corresponds to the fan condenser 30. The watertight door 4 is used for ventilation when open and can be completely closed when closed.

[0026] The thermal management system 12 is connected to the compressor 25, the refrigeration circuit pressure sensor 28, the refrigeration circuit temperature sensor 29, and the air condenser 30. The compressor 25 is connected to the battery and power management system 2.

[0027] The cooling circulation system includes: a second cooling pump group 23, a switching valve 24, and heat sinks 11, all connected to the inlet and outlet of the second heat exchanger 21. The thermal management system 12 is connected to the second cooling pump group 23 and the switching valve 24. The heat sink 11 is attached to the wall of the enclosed casing 1. The second cooling pump group 23 is connected to the battery and power management system 2. The battery and power management system 2 is externally connected and controlled by a battery temperature control protection layer 3.

[0028] Both the connecting valve 37 and the switching valve 24 have throttling and speed regulation functions.

[0029] like Figure 2-9 The linear actuator 5 includes: several self-contained linear electro-hydraulic actuators 31 installed on engineering machinery. Each self-contained linear electro-hydraulic actuator 31 includes: lugs arranged before and after the self-contained linear electro-hydraulic actuator 31; a piston rod with an integrated rod and piston is installed in the cylinder cavity; a power source 3101 is built into the piston; the power source 3101 is gear-type or plunger-type; the gear-type includes internal meshing and external meshing, and the external meshing is a helical gear; a cavity is set inside the rod; a small piston is set inside the cavity; the small piston divides the cavity into a rodless cavity 3104 and a front cooling cavity 3110; a rotatable spline shaft 3102 is fixedly installed at the bottom of the cylinder; the spline shaft 3102 passes through the power source 3101 and is movably connected to the small piston; the spline shaft 3102 drives the power source 3101; the piston rod divides the cylinder cavity into a rod cavity 3103 and a rear cooling cavity 3105; the front cooling cavity 3110 and the rear cooling cavity 3105 are heat-conducting cavities; servo The motor 3108 is located on one side of the bottom of the cylinder. The spline shaft 3102 has a transmission mechanism at its tail end that is connected to the drive shaft of the servo motor 3108. The spline shaft 3102 and the drive shaft of the power source 3101 have a backlash channel 3106 pre-set in the spline hole. The spline shaft 3102 has a channel 3107. The piston rod body has an oil passage 3109. The servo motor 3108 drives the spline shaft 3102 to rotate forward and backward, so that the power source 3101 outputs pressure in both directions to the rod chamber 3103 and the rodless chamber 3104. The cross-sectional areas of the rod chamber 3103 and the rodless chamber 3104 are equal. The cylinder has a connection inlet and outlet for connecting to the main circulation system. The cylinder has a channel connecting to the channel 3107 of the spline shaft 3102. Coolant or lubricant enters the cylinder channel, channel 3107, front cooling chamber 3110, backlash channel 3106, and rear cooling chamber 3105 in sequence and then exits. The above constitutes a cooling circuit.

[0030] The linear actuator 5 also includes: electric cylinders, hydraulic cylinders, etc.

[0031] The rotary actuator 6 includes a motor 32, a servo motor, and a motor 32 and a servo motor equipped with a drive-connected reducer. The main control system 9 can collect the motor winding temperature, bearing temperature, and motor controller heat sink temperature through the motor driver 10.

[0032] Linear actuator 5 and rotary actuator 6 can be encapsulated for waterproof and pressure-resistant treatment.

[0033] The surveillance system 7 includes: a drone system 33, a boom 34, and a camera 35. The drone system 33 is a takeoff drone housed in an openable, sealed, waterproof housing. The camera 35 is waterproof and has an omnidirectional field of view.

[0034] When the electric construction machinery is an excavator, the self-contained linear electro-hydraulic actuator 31 can be any one or more of the boom cylinder, stick cylinder, and bucket cylinder. The rotation and travel drives are achieved through the rotary actuator 6. The lifting boom 34 can be an electric cylinder or the self-contained linear electro-hydraulic actuator 31. A cab for human operation can be set up. The cab is waterproof and pressure-resistant and can be equipped with a waterproof hatch. The excavator as a whole has waterproof and pressure-resistant treatment. When facing shallow water or shallow underwater excavation operations, it can operate unmanned. When the waterproof hatch of the cab is closed, the watertight hatch 4 of the sealed box 1 is closed. The lifting boom 34 raises and lowers to enable the camera 3, realizing video monitoring capabilities. It can also launch a drone system 33 to wirelessly transmit visual monitoring data to the main control system 9 to realize data monitoring, transmission, and control. The main control system 9 has remote data connection control function and connects with the cloud backend data for operation control and AI data collection, analysis, and feedback to realize artificial intelligence group control. The self-contained linear electro-hydraulic actuator 31 can feed back pressure data, displacement data, and temperature data to the main control system 9.

[0035] When the electric engineering machinery is a forklift, the self-contained linear electro-hydraulic actuator 31 can be any one or more of a lifting cylinder, tilting cylinder, or fork offset cylinder. The steering drive is a steering electric cylinder or an electric cylinder, and the travel drive is achieved through the rotary actuator 6. The lifting rod 34 can be an electric cylinder or the self-contained linear electro-hydraulic actuator 31. A driver's cab can be set up for human operation. The driver's cab is waterproof and pressure-resistant and can be equipped with a waterproof door. The forklift as a whole has waterproof and pressure-resistant treatment. When facing wading or shallow underwater lifting operations, it can operate unmanned. When the driver's cab closes the waterproof door and the sealed box 1 closes the watertight door 4, the lifting rod 34 raises and lowers to enable the camera 3 to realize video monitoring capabilities. It can also launch a drone system 33 to wirelessly transmit visual monitoring data to the main control system 9 to realize data monitoring, transmission, and control. The main control system 9 has remote data connection control function and connects with the cloud backend data for operation control and AI data collection, analysis, and feedback to realize artificial intelligence group control. The self-contained linear electro-hydraulic actuator 31 can feed back pressure data, displacement data, and temperature data to the main control system 9.

[0036] When the electric construction machinery is a loader, the self-contained linear electro-hydraulic actuator 31 can be any one or more of the boom cylinder, bucket cylinder, and steering cylinder. The travel drive is achieved through the rotary actuator 6. The lifting boom 34 can be an electric cylinder or the self-contained linear electro-hydraulic actuator 31. A cab for human operation can be set up. The cab is waterproof and pressure resistant and can be equipped with a waterproof door. The loader as a whole has waterproof and pressure resistant treatment. When facing wading or shallow underwater loading operations, it can operate unmanned. When the waterproof door of the cab is closed and the watertight door 4 of the sealed box 1 is closed, the lifting boom 34 raises and lowers to enable the camera 3 to realize video monitoring capabilities. It can also launch a drone system 33 to wirelessly transmit visual monitoring data to the main control system 9 to realize data monitoring, transmission, and control. The main control system 9 has remote data connection control function and connects with the cloud background data for operation control and AI data collection, analysis, and feedback to realize artificial intelligence group control. The self-contained linear electro-hydraulic actuator 31 can feed back pressure data, displacement data, and temperature data to the main control system 9.

[0037] Electric engineering machinery can also be various humanoid, multi-legged, or wheeled robots. Joint rotation uses rotary actuators 6, and linear drive uses linear actuators 5. The robot body is equipped with a closed box 1, which houses the main control system 9, motor driver 10, battery and power management system 2, and thermal management system 12. Cameras 3 are installed inside or outside the robot body, enabling video monitoring. The cameras 3 transmit visual monitoring data to the main control system 9 to achieve data monitoring, transmission, and control. The main control system 9 has remote data connection and control functions and connects to the cloud backend for operation control and AI data acquisition, analysis, and feedback to achieve artificial intelligence group control. The self-contained linear electro-hydraulic actuator 31 can feed back pressure data, displacement data, and temperature data to the main control system 9.

[0038] The working method is as follows: like Figure 1 The cloud-based backend and / or monitoring system and / or external operating platform provide the external working environment and operating instructions to the main control system 9. The main control system 9 inputs and outputs control the operation of the motor driver 10, thermal management system 12, and battery and power management system 2. The battery and power management system 2 supplies power to the main control system 9 and electrical equipment such as the motor driver 10 and thermal management system 12. The motor driver drives one or more rotary actuators 6 to achieve various rotary drive outputs. The motor driver drives one or more self-contained linear electro-hydraulic actuators 31 to achieve various linear drive outputs, such as... Figure 2-3As shown, the servo motor 3108 drives the spline shaft 3102 to rotate, driving the power source 3101 to output pressure to the rodless chamber 3104 and the rod chamber 3103, realizing the extension and retraction of the piston rod. When the piston rod extends and retracts, the heat of the piston rod wall, cylinder and power source 3101 is conducted to the coolant or lubricant entering the front cooling chamber 3110 and the rear cooling chamber 3105 through heat conduction. During the extension and retraction of the piston rod, the volume of the front cooling chamber 3110 and the rear cooling chamber 3105 changes accordingly. One or more self-contained linear electro-hydraulic actuators 31 are connected to the inlet and outlet of the main circulation system in the closed box 1 through the pipelines laid by the structural components.

[0039] When the system starts working, two main circulation temperature sensors 17 connected to the inlet and outlet of the main circulation system monitor and compare the temperature, and feed the feedback to the thermal management system 12. When the equipment is in a normal temperature environment, or due to initial startup, the self-contained linear electro-hydraulic actuator 31 is within the equipment's operating temperature range. The thermal management system 12 controls the connecting valve 37 to switch from closed to open, connecting the inlet and outlet of the main circulation system to form a small circulation of the main circulation system. During the extension and retraction of the piston rod, the volume of the front cooling chamber 3110 and the rear cooling chamber 3105 changes accordingly. The heat dissipation and conduction of the small circulation are achieved through the pipelines laid by the equipment. When working for a long time or in a hot area, the temperature rises further, and the thermal management system 12 controls the connecting valve 37 to close. The hot liquid of the main circulation system passes through the first heat exchanger 20, the second heat exchanger 21, the heater 36, the one-way valve 14, and the outlet filter 19 in sequence. The refrigeration cycle system works, the compressor 25 works, and the refrigerant enters the first heat exchanger 20 and the air condenser 30 and circulates. Expansion valve 1 26 and expansion valve 27 are used for volume adaptation adjustment. The refrigeration circuit pressure sensor... 28. The refrigeration circuit temperature sensor 29 monitors the inlet and outlet pressure and temperature of the circulation circuit. The pressure and temperature monitoring data are fed back to the thermal management system 12. The thermal management system 12 can drive the compressor 25 to work or control its operating speed based on the feedback data. The main circulation pressure sensor 18 and the main circulation temperature sensor 17 of the main circulation system circuit compare the monitored temperature and pressure in real time and coordinate to control whether the circulation pump group 13 works or control its operating speed. During the working cycle of the main circulation system circuit, the circulation pump group 13 does not need to work. It can rely on the self-contained linear electro-hydraulic actuator 31 to actively change the volume to provide positive and negative pressure for circulation. A one-way valve can be added to the circulation circuit to improve circulation performance. The watertight door 4 is opened for ventilation of the air condenser 30. The volume compensator 15 is used for volume adjustment. The shut-off valve 16 interface is used for liquid replenishment. When the temperature continues to rise, the thermal management system 12 controls the circulation pump group 13 to work actively and controls its operating speed. The outlet filter 19 and the inlet filter 22 are used for circulation filtration, respectively. When blockage occurs, feedback is sent to the thermal management system 12 and the main control system 9 to remind that the circulation efficiency has decreased and the filter element needs to be replaced.

[0040] When the ambient temperature is low or exceeds the operating temperature range of the equipment, the thermal management system 12 monitors and compares the temperature of the two main circulation temperature sensors 17 connected to the inlet and outlet of the main circulation system before starting the equipment. The thermal management system 12 and the battery and power management system 2 drive and control the heater 36 to work. The thermal management system 12 controls the circulation pump group 13 to work actively and controls its working speed. The main circulation system preheats the circulation loop and pumps hot liquid to the self-contained linear electro-hydraulic actuator 31 to make it heat up quickly and reach the working temperature range, reducing the viscosity of the circulating liquid or lubricating liquid in the circulation loop, so that the whole equipment can quickly reach the ideal working temperature.

[0041] When the electric engineering machinery is located in shallow water or underwater, the watertight door 4 is closed, the enclosed box 1 is in water-sealed operation, the thermal management system 12 controls the operation of the cooling circulation system, the cooling pump set 23 works and controls its operating speed, the switch valve 24 is opened, and the circulating liquid circulates through the second heat exchanger 21 and the heat sink 11, so that the heat of the main circulation system is introduced into the heat sink 11 and conducted to the outside of the enclosed box 1 through the metal plate of the enclosed box 1.

[0042] The battery and power management system 2 automatically controls the temperature of the battery temperature control protection layer 3 to rise or fall based on its own temperature, the temperature of the main circulation temperature sensor 17, the temperature of the cooling circuit temperature sensor 29, and the temperature rise. For example, the battery temperature control protection layer 3 is a PTC board.

[0043] like Figure 10A single cloud-based backend is set up for each connected device, including excavators, forklifts, loaders, robots, and other power engineering machinery. The cloud backend collects parameters, stores data, and performs AI analysis and control. Based on a given workload and project, a certain number of devices are grouped. The data collection unit for each device includes device attributes, rotary actuators, linear actuators, auxiliary systems, and visual scenes. Parameters related to device attributes include position and time; parameters related to rotary actuators include time, temperature, speed, power, battery level, and other monitoring data; parameters related to linear actuators include time, pressure, temperature, speed, power, battery level, and other monitoring data; parameters related to auxiliary systems include position, time, pressure, temperature, speed, power, and battery level; and parameters related to visual scenes... The parameters include: location, time, and other monitoring data. Other monitoring data refers to the data collected by other sensors in the control system, such as liquid viscosity, liquid level, equipment tilt angle, operation data, status data, event data, maintenance data, and other physical quantities. After AI analysis of the collected data, engineering efficiency can be optimized. Based on the collected data, fault diagnosis and lifecycle management and comparison can be performed on individual or multiple acquisition units. Based on the collected data, fault diagnosis and lifecycle management and comparison can be performed on individual or multiple devices. Fault diagnosis and lifecycle management and comparison can be performed on individual units and / or devices in different scenarios and / or time periods. The optimized data of AI parameters enables active control of equipment and collaborative group control of multiple devices, thereby further maximizing the efficiency of equipment and projects and iteratively optimizing and improving various indicators.

Claims

1. An electric engineering machinery drive system, comprising a control unit and an execution unit connected thereto, characterized in that: The control section includes a main control system (9), a motor driver (10), a battery and power management system (2), and a thermal management system (12). The execution section includes a rotary actuator (6) and a linear actuator (5). The main control system (9) is connected to the motor driver (10), the battery and power management system (2), and the thermal management system (12). The motor driver (10) is connected to the battery and power management system (2), the rotary actuator (6), and the linear actuator (5). A circulation system controlled and connected by the thermal management system (12) is also provided. The circulation system is a closed-loop liquid hot and cold circulation loop with temperature control and monitoring functions and heat exchange. The linear actuator (5) is provided with a heat-conducting cavity and connected to the circulation loop of the circulation system. The linear actuator (5) is a number of self-contained linear electro-hydraulic actuators (31). The self-contained linear electro-hydraulic actuator (31) includes a cylinder, a piston rod with an integrated rod and piston, and a piston-embedded power source (310). 1) A rotatable splined shaft (3102) and a servo motor (3108) are used. The piston rod has a cavity that is divided into a rodless cavity (3104) and a front cooling cavity (3110) by a small piston. The piston rod divides the cylinder cavity into a rod cavity (3103) and a rear cooling cavity (3105). The splined shaft (3102) passes through the power source (3101) and is movably connected to the small piston. The servo motor (3108) drives the splined shaft (3102) to rotate forward and backward, thereby turning the power source ( 3101) Output pressure to the rod chamber (3103) and the rodless chamber (3104). The cross-sectional areas of the rod chamber (3103) and the rodless chamber (3104) are equal. The cylinder is provided with an inlet and an outlet for connecting the circulation system. The front cooling chamber (3110) and the rear cooling chamber (3105) are both heat-conducting cavities and form part of the cooling circuit. The front cooling chamber (3110) and the rear cooling chamber (3105) can generate volume changes with the extension and retraction of the piston rod to provide auxiliary driving force for the circulating fluid.

2. The electric engineering machinery drive system according to claim 1, characterized in that: The structure of the self-contained linear electro-hydraulic actuator (31) is as follows: the self-contained linear electro-hydraulic actuator (31) is provided with lugs at the front and rear, and the piston has a built-in power source (3101) which is gear-type or plunger-type; a spline shaft (3102) is fixedly provided at the bottom of the cylinder, and the spline shaft (3102) passes through the power source (3101) and is movably connected to the small piston and drives the power source (3101); a channel (3107) is provided in the spline shaft (3102), and a toothed channel is preset between the spline shaft (3102) and the spline hole in the drive shaft of the power source (3101). 3106), the piston rod body is provided with an oil passage (3109); the servo motor (3108) is located on one side of the bottom of the cylinder, and the end of the spline shaft (3102) is provided with a transmission mechanism that is connected to the drive shaft of the servo motor (3108); the cylinder is provided with a channel (3107) that connects to the spline shaft (3102), and the coolant or lubricant of the circulation system enters the cylinder channel, the channel (3107), the front cooling chamber (3110), the backlash channel (3106), and the rear cooling chamber (3105) in sequence and then exits to form a complete cooling circuit.

3. The electric engineering machinery drive system according to claim 2, characterized in that: The circulation system includes a main circulation system and a refrigeration circulation system. The main circulation system is connected to the cooling circuit of the self-contained linear electro-hydraulic actuator (31). The main circulation system includes a main circulation pressure sensor (18), a main circulation temperature sensor (17), and a first heat exchanger (20) installed on the main circulation system loop. The refrigeration circulation system is connected to the first heat exchanger (20).

4. The electric engineering machinery drive system according to claim 3, characterized in that: The main circulation system also includes a second heat exchanger (21) in the circulation loop. The circulation system also includes a cooling circulation system, which is connected to the second heat exchanger (21).

5. The electric engineering machinery drive system according to claim 4, characterized in that: A heater (36) is installed on the main circulation loop, and the thermal management system (12) is connected to the battery and power management system (2) and the heater (36).

6. The electric engineering machinery drive system according to any one of claims 2-5, characterized in that: It also includes a closed box (1), which is set on the chassis or body of the electric engineering machinery. The control part is set inside the closed box (1), and the circulation system is set inside the closed box (1). The closed box (1) is provided with a watertight door (4). It also includes an external operating platform (8), a cloud backend, and a monitoring system (7). The main control system (9) is connected to the external operating platform (8), the cloud backend, and the monitoring system (7).

7. The electric engineering machinery drive system according to claim 3, characterized in that: The main circulation system also includes: a circulation pump group (13), a check valve (14), a volume compensator (15), and a filter installed on the loop connecting the inlet and outlet. The outlet and inlet of the circulation pump group (13) are respectively equipped with check valves (14) and connected to the volume compensator (15). The inlet and outlet are each equipped with a main circulation pressure sensor (18) and a main circulation temperature sensor (17). The thermal management system (12) is respectively connected to the main circulation pressure sensor (18), the main circulation temperature sensor (17), the circulation pump group (13), and the battery and power management system (2).

8. The electric engineering machinery drive system according to any one of claims 1-5 and 7, characterized in that: A connecting valve (37) is provided between the inlet and outlet of the self-contained linear electro-hydraulic actuator (31) connected to the main circulation system.

9. The electric engineering machinery drive system according to claim 3 or 7, characterized in that: The heat exchanger is the first heat exchanger (20). The refrigeration cycle system includes: a compressor (25), an expansion valve one (26), an expansion valve two (27), a refrigeration circuit pressure sensor (28), a refrigeration circuit temperature sensor (29), and an air condenser (30) are installed on the circuit connecting the inlet and outlet of the first heat exchanger (20). A refrigeration circuit pressure sensor (28) and a refrigeration circuit temperature sensor (29) are installed at the inlet and outlet respectively. A watertight door (4) is opened in the closed box (1). The watertight door (4) corresponds to the air condenser (30). The thermal management system (12) is connected to the compressor (25), the refrigeration circuit pressure sensor (28), the refrigeration circuit temperature sensor (29), and the air condenser (30). The compressor (25) is connected to the battery and power management system (2).

10. The electric engineering machinery drive system according to claim 3 or 7, characterized in that: It also includes a closed enclosure (1), a heat exchanger is a second heat exchanger (21), and a cooling circulation system including: a second cooling pump group (23), a switch valve (24), a heat sink (11), and a thermal management system (12) are provided on the loop connecting the inlet and outlet of the second heat exchanger (21). The second cooling pump group (23), the switch valve (24), the heat sink (11) are respectively connected to the second cooling pump group (23), the switch valve (24), the heat sink (11) is attached to the wall of the closed enclosure (1), and the second cooling pump group (23) is connected to the battery and power management system (2).

11. The electric engineering machinery drive system according to claim 2, characterized in that: The self-contained linear electro-hydraulic actuator (31) is equipped with a displacement sensor and a pressure sensor and feeds back the pressure and displacement signals to the main control system (9).

12. The electric engineering machinery drive system according to claim 2, characterized in that: The linear actuator (5) may also include an electric cylinder and / or a conventional hydraulic cylinder as an auxiliary linear actuator, and the rotary actuator (6) includes a motor (32), a servo motor, and a motor (32) and a servo motor equipped with a drive-connected reducer.

13. The electric engineering machinery drive system according to claim 6, characterized in that: The monitoring system (7) is located outside the enclosed enclosure (1). The monitoring system (7) includes at least one of the following: a lifting camera system: including a lifting rod (34) and a camera (35) located on the top of the lifting rod (34). The lifting rod (34) is a telescopic structure and can be an electric cylinder or a self-contained linear electro-hydraulic actuator (31); a drone system (33): including an openable enclosed waterproof storage shell and a drone located inside the storage shell. The drone is in a waterproof storage state when the storage shell is closed and can take off to perform monitoring tasks when the storage shell is open. The monitoring system (7) transmits visual monitoring data to the main control system (9) via wireless transmission.

14. The electric engineering machinery drive system according to any one of claims 1-5, 7, 11-13, characterized in that: The electric construction machinery drive system can be applied to one of the following: excavators, forklifts, and loaders.

15. The electric engineering machinery drive system according to claim 6, 8, 9, or 10, characterized in that: The electric construction machinery drive system can be applied to one of the following: excavators, forklifts, and loaders.

16. The electric engineering machinery drive system according to any one of claims 1-5, 7, 11-13, characterized in that: The electric engineering machinery drive system can be applied to one of the following: humanoid robots, multi-legged robots, and wheeled robots.

17. The electric engineering machinery drive system according to claim 6, 8, 9, or 10, characterized in that: The electric engineering machinery drive system can be applied to one of the following: humanoid robots, multi-legged robots, and wheeled robots.

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