Mining trackless rubber-tyred vehicle driven by double-explosion-proof integrated electric drive axle

Abstract

The utility model belongs to the technical field of mining vehicles, and particularly relates to a mining trackless rubber-tyred vehicle driven by double anti-explosion integrated electric drive axles, which comprises a frame and a motor controller, and a front anti-explosion integrated electric drive axle and a rear anti-explosion integrated electric drive axle are respectively driven by a front drive motor and a rear drive motor; the vehicle control unit distributes torque to the front-drive motor and the rear-drive motor according to the load proportion of the front load collector and the rear load collector and the MAP efficiency of the single motor and sends a control instruction to the motor controller, and the motor controller controls the front-drive motor and the rear-drive motor to rotate. The two electric drive axles capable of being driven independently are adopted, the whole vehicle controller can switch single-motor driving or double-motor driving in real time according to the vehicle load, speed and accelerator changes, it is guaranteed that the motors of the vehicle always run in the state that the single-motor MAP efficiency is high, and when one motor breaks down, the single-motor MAP efficiency is high. The vehicle can also be driven by another explosion-proof integrated electric drive axle, and automatically returns for maintenance without towing the vehicle.

Description

Technical Field

[0001] The utility model belongs to the technical field of vehicle driving, and in particular relates to a mining trackless rubber-wheeled vehicle driven by a double explosion-proof integrated electric drive axle. Background Art

[0002] The electric drive axle of a vehicle generally adopts a split design of the motor and the drive axle. The motor transmits power to the drive axle through the drive shaft, transfer case and other components, and the wheel hubs on the left and right sides of the split drive axle require a differential. This transmission method has many transmission levels and low transmission efficiency. The chassis structure of the vehicle is complex, the drive system occupies a large space, is heavy, and has high manufacturing costs.

[0003] In the prior art, the rubber-tyred trackless vehicle for mining uses an electric drive axle. Although the single motor drive can meet the requirements under most medium and high speed conditions, the working conditions in coal mines are complex, with variable slopes and large slopes. Under conditions such as low speed and heavy load, high speed and light load, the inherent characteristics of the permanent magnet synchronous motor lead to a decrease in efficiency, which in turn affects the vehicle's mileage. In addition, the single motor drive has high requirements for the motor, the motor cost is high, and the motor heats up seriously after long-term operation, which is prone to failure. Once the motor fails, it cannot operate underground, and underground trailers are relatively troublesome.

[0004] Using a single motor drive, due to the inherent characteristics of the motor, it is impossible to ensure that the vehicle system always maintains high efficiency under different working conditions through control strategy, and the vehicle battery energy cannot be continuously and efficiently utilized, which affects the cruising range. Utility Model Content

[0005] The utility model aims to overcome the defects of the prior art that the single-motor driven rubber-tyred trackless vehicle has high requirements on the motor, low motor efficiency, and inconvenience in towing in case of failure, and provides a mining trackless rubber-tyred vehicle driven by a double explosion-proof integrated electric drive axle that can switch between single and double motor drives according to underground working conditions and the front and rear load ratio of the vehicle.

[0006] The technical solution adopted by the utility model to solve its technical problems is:

[0007] A mining trackless rubber-tyred vehicle driven by a double explosion-proof integrated electric drive axle, characterized in that it comprises: a frame, a motor controller installed on the frame and electrically connected to a CAN bus, and two explosion-proof integrated electric drive axles installed on the lower part of the frame through leaf springs, which are arranged front and rear and parallel to each other, the front explosion-proof integrated electric drive axle and the rear explosion-proof integrated electric drive axle are driven by a front drive motor and a rear drive motor respectively; a front load collector and a rear load collector are respectively arranged on the frame to collect the front and rear loads of the vehicle; a vehicle controller distributes torque to the front drive motor and the rear drive motor according to the load ratio of the front load collector and the rear load collector and the MAP efficiency of the single motor, and sends a control instruction to the motor controller, and the motor controller controls the rotation of the front drive motor and the rear drive motor respectively.

[0008] Furthermore, it also includes a battery control system electrically connected to the CAN bus, which receives a motor drive signal sent by the motor controller through the CAN bus, inverts the high-voltage direct current of the power battery into alternating current, and outputs it to the front drive motor and the rear drive motor respectively.

[0009] Furthermore, the explosion-proof integrated electric drive axle includes a dual-output shaft motor, and the front-drive motor and the rear-drive motor are dual-output shaft motors; the center of the motor rotor of the dual-output shaft motor has a cavity, and an intermediate shaft is passed through the cavity, and the intermediate shaft does not contact the inner wall of the cavity; the left end of the motor rotor is connected to the differential, the left half-shaft gear of the differential is fixedly connected to the left connecting shaft, the right half-shaft gear of the differential is fixedly connected to the intermediate shaft, the right end of the intermediate shaft is fixedly connected to the right connecting shaft through a right brake gear ring, and a parking brake friction plate is slidably installed on the outer side of the right end of the motor rotor through a spline.

[0010] Furthermore, the dual-output shaft motor includes: an outer peripheral cover plate, a left cover plate and a right cover plate respectively fixedly connected to the outer peripheral cover plate; the left and right ends of the outer peripheral cover plate are respectively fixedly connected with a left bridge body and a right bridge body, and brake cooling oil is introduced into the cavities in the left bridge body and the right bridge body, and the brake cooling oil can flow left and right through the gap between the intermediate shaft and the cavity.

[0011] Furthermore, a plurality of motor cooling grooves are provided on the outer peripheral surface of the outer peripheral cover plate, the outer side of the outer peripheral cover plate is covered with an outer shell, and cooling water is injected into the motor cooling grooves through a water injection port on the outer shell.

[0012] Furthermore, the left end of the left connecting shaft and the right end of the right connecting shaft are both connected to wheels via a planetary gear reduction mechanism.

[0013] Furthermore, a hollow support base is provided at the lower part of the outer shell of the dual-output shaft motor, and a wiring head for wiring is connected to the support base. The wires of the dual-output shaft motor pass through the support base and are connected to the wiring head.

[0014] The beneficial effects of the double explosion-proof integrated electric drive axle-driven mining trackless rubber-wheeled vehicle of the utility model are:

[0015] 1. The utility model adopts two electric drive bridges that can be driven separately. The vehicle controller can switch between single motor drive and dual motor drive in real time according to vehicle load, speed and throttle changes to ensure that the vehicle's motor always runs in a state with high single motor MAP efficiency. Generally, the single motor control MAP efficiency is above 95%.

[0016] 2. The utility model is designed with two independently driven electric drive axles, which is designed for fault redundancy. However, when the motor of one explosion-proof integrated electric drive axle fails, the vehicle can also be driven by the other explosion-proof integrated electric drive axle and return for repair by itself without the need for a tow truck.

[0017] 3. The explosion-proof integrated electric drive axle of the utility model adopts a motor rotor with a cavity, and uses an intermediate shaft to design the left connecting shaft, the motor rotor and the right connecting shaft to be coaxial, which greatly reduces the occupied space of the electric drive axle, reduces the number of transmission levels, and greatly improves the transmission efficiency, so that the battery utilization rate of the rubber-free wheeled tram under the mine is greatly improved. At the same time, because the electric drive axle is highly integrated, the structural design of the chassis is also relatively simple, and the electric drive axle is easy to install.

[0018] 4. The utility model patent shares a differential and a parking brake friction plate on the left and right sides, which reduces the production and maintenance costs compared to the prior art that requires a differential and a parking brake friction plate on each side. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0020] Figure 1 The utility model is a control system block diagram of a mining trackless rubber-wheeled vehicle driven by a double explosion-proof integrated electric drive axle.

[0021] Figure 2 It is a front view of a mining trackless rubber-wheeled vehicle driven by a double explosion-proof integrated electric drive axle according to an embodiment of the utility model.

[0022] Figure 3 It is a bottom view of a mining trackless rubber-wheeled vehicle driven by a double explosion-proof integrated electric drive axle according to an embodiment of the utility model.

[0023] Figure 4 It is a stereoscopic diagram of an explosion-proof integrated electric drive axle according to an embodiment of the utility model.

[0024] Figure 5 It is a cross-sectional view of an explosion-proof integrated electric drive axle according to an embodiment of the utility model.

[0025] Figure 6 It is a MAP diagram of a single drive motor according to an embodiment of the present utility model.

[0026] In the figure: 10, frame, 11, motor controller, 13, front explosion-proof integrated electric drive axle, 14, rear explosion-proof integrated electric drive axle, 15, front drive motor, 16, rear drive motor, 17, front load collector, 18, rear load collector, 19, battery control system, 20, power battery, 21, vehicle controller, 31, intermediate shaft, 32, differential, 321, left half shaft gear, 322, right half shaft gear, 33, left connecting shaft, 3 4. Right brake ring gear, 35. Right connecting shaft, 36. Parking brake friction plate, 37. Left bridge body, 38. Right bridge body, 39. Planetary gear reduction mechanism, 4. Dual output shaft motor, 40. Cavity, 41. Peripheral cover plate, 42. Left cover plate, 43. Right cover plate, 44. Outer shell, 441. Water filling port, 45. Motor cooling groove, 46. Motor rotor, 50. Terminal block, 51. Front wheel, 52. Rear wheel, 53. Support seat. DETAILED DESCRIPTION

[0027] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0028] like Figure 1-Figure 6 The utility model shown is a specific embodiment of a mining trackless rubber-wheeled vehicle driven by a double explosion-proof integrated electric drive bridge, comprising: a frame 10, a motor controller 11 installed on the frame 10 and electrically connected to a CAN bus, and two explosion-proof integrated electric drive bridges installed at the lower part of the frame 10 through leaf springs. The explosion-proof integrated electric drive bridge is divided into a front explosion-proof integrated electric drive bridge 13 and a rear explosion-proof integrated electric drive bridge 14, and the front explosion-proof integrated electric drive bridge 13 and the rear explosion-proof integrated electric drive bridge 14 are driven by a front drive motor 15 and a rear drive motor 16 respectively; a front load collector 17 and a rear load collector 18 for collecting the front and rear loads of the vehicle are respectively arranged on the frame 10; the vehicle controller 13 distributes torque to the front drive motor 15 and the rear drive motor 16 according to the load ratio of the front load collector 17 and the rear load collector 18 and the MAP efficiency of the single motor, and sends a control instruction to the motor controller 11, and the motor controller 11 controls the rotation of the front drive motor 15 and the rear drive motor 16 respectively.

[0029] See also Figure 1The double explosion-proof integrated electric drive bridge driven mining trackless rubber-tyred vehicle also includes a battery control system 19 electrically connected to the CAN bus. The battery control system 19 receives the motor drive signal sent by the motor controller 11 through the CAN bus, and converts the high-voltage direct current of the power battery 20 into alternating current through the inverter, and outputs it to the front drive motor 15 and the rear drive motor 16 respectively. The vehicle controller 21 receives the vehicle driving signal (such as the driving throttle signal, the temperature signal of the motor, etc.), and communicates with the motor controller 11 and the battery management system 19 through the CAN bus. The motor controller 11 and the battery management system 19 respectively transmit the vehicle signals collected by each to the vehicle controller 21 through the CAN bus. The vehicle controller 21 analyzes and processes the data according to the vehicle information and combined with the drive control strategy, and then sends the control instruction to the battery management system 19 and the motor controller 11. After receiving the control instruction, the battery management system 19 controls the discharge of the power battery 20 according to the current state of the power battery 20. After receiving the control command, the motor controller 11 controls the front drive motor 15 and the rear drive motor 16 respectively according to the status signals of the two motors, thereby driving the vehicle to quickly and accurately meet the working condition requirements and the driver's driving purpose, ensuring that the single motor MAP efficiency is higher than 95%.

[0030] See also Figure 3-Figure 5 The explosion-proof integrated electric drive axle of the utility model adopts a linear electric drive axle, and its transmission system no longer needs a transmission, a transfer case, a transmission box, a wheel-side reduction structure, etc., which saves chassis space and improves transmission efficiency. Specifically, the explosion-proof integrated electric drive axle of the utility model adopts a linear electric drive axle including a dual-output shaft motor 4, and the above-mentioned front drive motor 15 and rear drive motor 16 are the dual-output shaft motor 4; the center of the motor rotor 46 of the dual-output shaft motor 4 has a cavity 40, and an intermediate shaft 31 is inserted into the cavity 40, and the intermediate shaft 31 does not contact the inner wall of the cavity 40; the left end of the motor rotor 46 is connected to the differential 32, the left half-shaft gear 321 of the differential 32 is fixedly connected to the left connecting shaft 33, and the right half-shaft gear 322 of the differential 32 is fixedly connected to the intermediate shaft 31, and the right end of the intermediate shaft 31 is fixedly connected to the right connecting shaft 35 through the right brake gear ring 34, and the outer side of the right end of the motor rotor 46 is slidably installed with a parking brake friction plate 36 through a spline.

[0031] The explosion-proof integrated electric drive axle of the utility model adopts a linear electric drive axle with good cooling effect of the motor, specifically: the dual output shaft motor 4 includes: an outer peripheral cover plate 41, a left cover plate 42 and a right cover plate 43 respectively fixedly connected to the outer peripheral cover plate 41; the left and right ends of the outer peripheral cover plate 41 are respectively fixedly connected to the left bridge body 37 and the right bridge body 38, and the brake cooling oil is introduced into the cavity in the left bridge body 37 and the right bridge body 38, and the brake cooling oil can flow left and right through the gap between the intermediate shaft 31 and the cavity 40. There are multiple motor cooling grooves 45 on the outer peripheral surface of the outer peripheral cover plate 41, and the outer side of the outer peripheral cover plate 41 is covered with an outer shell 44, and cooling water is injected into the motor cooling groove 45 through the water injection port 441 on the outer shell 44.

[0032] The left end of the left connecting shaft 33 and the right end of the right connecting shaft 35 are both connected to wheels via a planetary gear reduction mechanism 39 .

[0033] To facilitate installation and wiring, a hollow support seat 53 is provided at the lower part of the outer shell 44 of the dual-output shaft motor 4, and a wiring head 50 for wiring is connected to the support seat 53. The wires of the dual-output shaft motor 4 pass through the support seat 53 and are connected to the wiring head 50.

[0034] The utility model has an explosion-proof integrated electric drive axle with small size, light weight, good braking and heat dissipation effect, and good explosion-proof performance. The use of a double explosion-proof integrated electric drive axle for driving can reasonably use one motor to drive alone or distribute different torques to two motors to use double motor drive according to different working conditions, which greatly increases the efficiency of the two motors and reduces motor failures.

[0035] The control strategy of the dual motors is as follows:

[0036] First, the total required torque of the vehicle is calculated based on the throttle signal of the vehicle controller 21 and the current vehicle speed. Figure 5 Taking the efficiency MAP diagram of a single motor in as an example, different working conditions are explained.

[0037] Working condition 1: Under load, when the required torque is greater than the available torque limit of a single motor at the current vehicle speed, the dual-motor drive mode is switched, and the total torque is distributed to the front drive motor 15 and the rear drive motor 16 according to the highest single motor MAP efficiency and the front and rear load ratio of the vehicle.

[0038] One specific embodiment is:

[0039] Assuming the vehicle load is 8t and the vehicle speed is 10°, the required vehicle torque is calculated to be 900N.m when the motor speed is 1800rpm. Figure 6At point A in the figure, the required torque is greater than the single motor limit torque at the current vehicle speed, and it is necessary to switch to dual-motor control mode. According to the front and rear load ratio of 4:6, the efficiency of the front motor distributing 360N.m is 96.2%, and the efficiency of the rear motor distributing 540N.m is 95.3%. The efficiency of the dual motors is ≥95%.

[0040] Working condition 2: Under load, when the required torque is not greater than the available torque limit of a single motor at the current vehicle speed, compare the efficiency of single and dual motor drive and select the best one. The total torque is highest according to the single motor MAP efficiency and the front and rear load ratio of the vehicle to the front and rear explosion-proof electric drive axle motors.

[0041] A specific embodiment is:

[0042] Assuming that the vehicle load is 4t and the vehicle speed is 10°, the vehicle demand torque calculated at the motor speed of 2200rpm is 700N.m. Figure 6 At point B in the figure, the required torque is not greater than the single motor limit torque at the current vehicle speed, and the efficiency of the single motor is 90%. When switching to dual motor control, according to the front and rear load ratio of 5:5, the efficiency of the front motor distributing 350N.m is 96.3%, and the efficiency of the rear motor distributing 350N.m is 96.3%. The use of dual motors is more efficient.

[0043] Another specific embodiment is:

[0044] Assuming that the vehicle load is 1t and the vehicle speed is 3200rpm corresponding to the motor speed of 5°, the calculated required torque of the vehicle is 300N.m, as shown in point C in the figure. The required torque is not greater than the single motor limit torque at the current vehicle speed. At this time, the efficiency of the single motor is 95%. When switching to dual motor control, according to the front and rear load ratio of 6:4, the efficiency of the front motor to distribute 180N.m is 94%, and the efficiency of the rear motor to distribute 120N.m is 92.1%, so the single motor control method is more effective. Prioritize the operation of the load-bearing end motor, and then switch the dual motor according to the temperature rise limit. When the temperature of one motor is ≥65℃, switch to the other motor.

[0045] Working condition three: When the vehicle is in no-load condition, according to the required torque under different road conditions, the front and rear drive motors 16 are switched in real time according to the predetermined temperature rise power limitation strategy to adjust the temperature rise of the drive system and ensure that the motor runs more safely and efficiently.

[0046] One specific embodiment is:

[0047] Assuming that the vehicle is unloaded and running on a flat road, the calculated vehicle torque requirement is 100N.m. The motor will run independently before and after the temperature rise of the motor and controller. The critical point of temperature switching is 65°C to ensure that the motor does not exceed the power limit of the temperature or reduce efficiency.

[0048] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A double explosion-proof integrated electric drive axle driven mining trackless rubber-wheeled vehicle, characterized in that: include: A vehicle frame (10), a motor controller (11) mounted on the vehicle frame (10) and electrically connected to a CAN bus, and two explosion-proof integrated electric drive bridges mounted on the lower part of the vehicle frame (10) through leaf springs and arranged in parallel with each other, the front explosion-proof integrated electric drive bridge (13) and the rear explosion-proof integrated electric drive bridge (14) being driven by a front drive motor (15) and a rear drive motor (16) respectively; a front load collector (17) and a rear load collector (18) for collecting front and rear loads of the vehicle respectively being arranged on the vehicle frame (10); a vehicle controller (21) distributes torque to the front drive motor (15) and the rear drive motor (16) according to the load ratio of the front load collector (17) and the rear load collector (18) and the MAP efficiency of the single motor, and sends a control instruction to the motor controller (11), and the motor controller (11) controls the rotation of the front drive motor (15) and the rear drive motor (16) respectively.

2. The double explosion-proof integrated electric drive axle driven mining trackless rubber-tyred vehicle according to claim 1, characterized in that: The invention also includes a battery control system (19) electrically connected to the CAN bus. The battery control system (19) receives a motor drive signal sent by the motor controller (11) via the CAN bus, inverts the high-voltage direct current of the power battery (20) into alternating current, and outputs the alternating current to the front drive motor (15) and the rear drive motor (16), respectively.

3. The double explosion-proof integrated electric drive axle driven mining trackless rubber-tyred vehicle according to claim 1, characterized in that: The explosion-proof integrated electric drive bridge comprises a dual-output shaft motor (4), wherein the front drive motor (15) and the rear drive motor (16) are the dual-output shaft motor (4); the center of the motor rotor (46) of the dual-output shaft motor (4) has a cavity (40), an intermediate shaft (31) is inserted into the cavity (40), and the intermediate shaft (31) does not contact the inner wall of the cavity (40); the left end of the motor rotor (46) is connected to the differential (32), the left half-shaft gear (321) of the differential (32) is fixedly connected to the left connecting shaft (33), the right half-shaft gear (322) of the differential (32) is fixedly connected to the intermediate shaft (31), the right end of the intermediate shaft (31) is fixedly connected to the right connecting shaft (35) through a right brake gear ring (34), and the outer side of the right end of the motor rotor (46) is slidably mounted with a parking brake friction plate (36) through a spline.

4. The double explosion-proof integrated electric drive axle driven mining trackless rubber-tyred vehicle according to claim 3, characterized in that: The dual-output shaft motor (4) comprises: an outer peripheral cover plate (41), a left cover plate (42) and a right cover plate (43) respectively fixedly connected to the outer peripheral cover plate (41); the left and right ends of the outer peripheral cover plate (41) are respectively fixedly connected to a left bridge body (37) and a right bridge body (38), brake cooling oil is introduced into the cavities in the left bridge body (37) and the right bridge body (38), and the brake cooling oil can flow left and right through the gap between the intermediate shaft (31) and the cavity (40).

5. The double explosion-proof integrated electric drive axle driven mining trackless rubber-tyred vehicle according to claim 4, characterized in that: The outer peripheral surface of the outer peripheral cover plate (41) is provided with a plurality of motor cooling grooves (45), the outer side of the outer peripheral cover plate (41) is covered with an outer shell (44), and cooling water is injected into the motor cooling grooves (45) through a water injection port (441) on the outer shell (44).

6. The double explosion-proof integrated electric drive axle driven mining trackless rubber-tyred vehicle according to any one of claims 3 to 5, characterized in that: The left end of the left connecting shaft (33) and the right end of the right connecting shaft (35) are both connected to wheels via a planetary gear reduction mechanism (39).

7. The double explosion-proof integrated electric drive axle driven mining trackless rubber-tyred vehicle according to claim 6 is characterized in that: A hollow support base (53) is arranged at the lower part of the outer shell (44) of the dual-output shaft motor (4), and a wiring head (50) for wiring is connected to the support base (53). The wires of the dual-output shaft motor (4) pass through the support base (53) and are connected to the wiring head (50).

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