Single-motor driving system of agricultural tractor

Abstract

The utility model provides a single-motor driving system of an agricultural tractor. The single-motor driving system comprises a driving motor, a three-gear gearbox, a battery pack, a motor controller, an operation control end, an encoder and an electronic hydraulic control device. According to the single-motor driving system of the agricultural tractor, a traditional fuel engine is completely replaced by the single motor, the single motor serves as a kinetic energy output unit, and therefore one-to-one replacement in the true sense is achieved. The highly integrated driving system not only achieves the function of an MCU (microcontroller unit), but also achieves the function of a VCU (vehicle control unit), can effectively achieve the maximization of resource utilization, and guarantees the reduction of the manufacturing cost and the use cost. The problem that in the prior art, no stable and efficient solution exists in the field of electric upgrading and reconstruction of a fuel tractor driving system, and the upgrading and reconstruction process of a fuel tractor is seriously hindered is solved.

Description

Technical Field

[0001] This utility model relates to the field of motor drive control, and more specifically, to a single motor drive system for agricultural tractors. Background Technology

[0002] In the agricultural sector, agricultural tractors play a vital role. With the booming development of intelligent and green agriculture, fuel-powered agricultural tractors can no longer meet the demands of intelligent and green agriculture. The exhaust fumes from fuel-powered tractors cause serious pollution to agricultural products, thus giving rise to electric agricultural tractors. However, although the market share of electric agricultural tractors is steadily increasing, fuel-powered tractors still dominate the domestic agricultural tractor market.

[0003] In response to the national call for energy conservation, emission reduction, and green agriculture, and to avoid significant resource waste, a large number of existing gasoline-powered tractors on the market need to be upgraded and converted to electric tractors to achieve sustainable development. Currently, there is no stable and efficient solution for the electrification of gasoline-powered tractor drive systems, which seriously hinders the progress of this upgrade. Utility Model Content

[0004] The main objective of this invention is to provide a single-motor drive system for agricultural tractors, which at least solves the problem that there is no stable and efficient solution for the electrification upgrade of fuel-powered tractor drive systems in the existing technology, which seriously hinders the upgrade process of fuel-powered tractors.

[0005] To achieve the above objectives, this utility model provides a single-motor drive system for an agricultural tractor, comprising: a drive motor; a three-speed gearbox, the input shaft of which is connected to the drive motor's rotating shaft, and the output shaft of which is connected to the tractor's axle via a transmission shaft; a battery pack and a motor controller, the battery pack being connected to the drive motor via the motor controller to supply power to the drive motor; an operation control terminal and an encoder, the operation control terminal being connected to the motor controller, and the motor controller being connected to the drive motor via the encoder; the operation control terminal receiving control commands from the operator; the encoder acquiring the drive motor's operating parameters; the motor controller controlling the drive motor's operation based on the control commands from the operation control terminal and the drive motor's operating parameters; and an electro-hydraulic control device connected to the battery pack and the tractor's attachments, the electro-hydraulic control device driving the tractor's attachments.

[0006] Furthermore, the motor controller has a first power terminal and a second power terminal, and the main power supply terminal of the battery pack is connected to the first power terminal and the second power terminal through the main power supply line; wherein, the main power supply line is equipped with a fuse and a main relay.

[0007] Furthermore, the electro-hydraulic control device is connected to the main power supply line.

[0008] Furthermore, the motor controller has a 12V power input terminal, and the battery pack has a 12V auxiliary power supply terminal, which is connected to the 12V power input terminal to provide 12V voltage to the motor controller.

[0009] Furthermore, the motor controller has a key signal terminal, a digital power supply +12V terminal, a throttle switch terminal, a seat switch terminal, a handbrake switch terminal, a throttle power supply +5V terminal, a throttle power supply GND terminal, and a throttle analog input terminal. The operation control terminal includes: a key switch, which is connected to the key signal terminal to receive the switch signal; a throttle switch, a seat switch, and a handbrake switch, with the first terminals of the throttle switch, seat switch, and handbrake switch respectively connected to the digital power supply +12V terminal. The second terminal of the switch, the second terminal of the seat switch, and the second terminal of the handbrake switch are connected to the corresponding terminals of the throttle switch, the seat switch, and the handbrake switch. The throttle switch, the seat switch, and the handbrake switch terminals are used to receive the switching signals from the throttle switch, the seat switch, and the handbrake switch, respectively. The electronic throttle is connected to the +5V throttle power supply terminal, the GND throttle power supply terminal, and the analog throttle input terminal, respectively. The +5V throttle power supply terminal and the GND throttle power supply terminal are used to supply power to the electronic throttle, and the analog throttle input terminal is used to receive the action signal of the electronic throttle.

[0010] Furthermore, the operating parameters of the drive motor include at least the rotor angle, angular velocity, and speed. The motor controller has resolver excitation terminals R+, R-, SIN+, SIN-, COS+, COS-, and a control power input terminal. The resolver excitation terminals R+, R-, SIN+, SIN-, COS+, COS-, and the control power input terminal are respectively connected to the encoder to receive the rotor angle, angular velocity, and speed signals of the drive motor.

[0011] Furthermore, the operating parameters of the drive motor include at least a temperature signal. The motor controller has a motor temperature + terminal and a motor temperature - terminal, which are respectively connected to the drive motor to receive the temperature signal from the drive motor.

[0012] Furthermore, the drive motor is a water-cooled motor, the base plate of the motor controller is a water-cooled base plate, the battery pack has a 12V auxiliary power supply terminal, the motor controller has a fan PWM control terminal, and the agricultural tractor single motor drive system also includes: a cooling fan, the 12V auxiliary power supply terminal is connected to the power receiving terminal of the cooling fan to supply power to the cooling fan, the fan PWM control terminal is connected to the control terminal of the cooling fan to control the cooling fan, and the cooling fan is opposite to the base plate of the drive motor and the motor controller to dissipate heat from the drive motor and the motor controller.

[0013] Furthermore, the motor controller has RS485_A and RS485_B terminals, which are connected to a controller diagnostic interface via a CAN bus. The controller diagnostic interface is used to diagnose faults in the motor controller.

[0014] Furthermore, the single-motor drive system for agricultural tractors also includes a display instrument, which is connected to the motor controller, battery pack, and electro-hydraulic control device via a CAN bus. The display instrument is used to display the operating parameters of the drive motor, the working status of the battery pack, and the working status of the electro-hydraulic control device.

[0015] This utility model discloses a single-motor drive system for agricultural tractors, comprising a drive motor, a three-speed gearbox, a battery pack, a motor controller, an operating control terminal, an encoder, and an electro-hydraulic control device. The input shaft of the three-speed gearbox is connected to the drive motor's rotating shaft, and the output shaft of the three-speed gearbox is connected to the tractor's axle via a transmission shaft. The battery pack is connected to the drive motor via the motor controller to supply power. The operating control terminal is connected to the motor controller, which is connected to the drive motor via the encoder. The operating control terminal receives control commands from the operator. The encoder acquires the drive motor's operating parameters. The motor controller controls the drive motor's operation based on the operating control terminal's commands and the drive motor's operating parameters, thereby controlling the entire tractor. The electro-hydraulic control device is connected to the battery pack and the tractor's attachments. The battery pack supplies power to the electro-hydraulic control device, which in turn drives the tractor's attachments to perform agricultural operations. This utility model's single-motor drive system completely replaces the traditional combustion engine with a single motor, which acts as the energy output unit, achieving a true one-to-one replacement. The highly integrated drive system integrates the functions of both an MCU (Microcontroller Unit) and a VCU (Vehicle Control Unit), effectively maximizing resource utilization and ensuring a reduction in both manufacturing and operating costs. It addresses the lack of a stable and efficient solution for the electrification upgrade of existing fuel-powered tractor drive systems, a problem that had severely hampered the upgrade process. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0017] Figure 1 This is a structural block diagram of a single-motor drive system for an agricultural tractor, which is an optional embodiment of this utility model.

[0018] Figure 2 This is a schematic diagram of the circuit layout of a single motor drive system for an agricultural tractor, which is an optional embodiment of this utility model.

[0019] Figure 3 This is a schematic diagram of the structure of a drive motor in a single-motor drive system for an agricultural tractor, according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of a three-speed gearbox in a single-motor drive system for an agricultural tractor, according to an embodiment of the present invention.

[0021] The above figures include the following reference numerals:

[0022] 10. Drive motor; 11. Rotary shaft; 20. Three-speed gearbox; 21. Input shaft; 22. Output shaft; 30. Battery pack; 40. Motor controller; 50. Operation control terminal; 60. Encoder; 70. Electro-hydraulic control device; 80. Display instrument; 90. Cooling fan; 100. Main relay; 110. Electronic throttle. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] The single-motor drive system for agricultural tractors described in this utility model is as follows: Figures 1 to 4As shown, the system includes a drive motor 10, a three-speed gearbox 20, a battery pack 30, a motor controller 40, an operation control terminal 50, an encoder 60, and an electro-hydraulic control device 70. The input shaft 21 of the three-speed gearbox 20 is connected to the rotating shaft 11 of the drive motor 10, and the output shaft 22 of the three-speed gearbox 20 is connected to the axle of the agricultural tractor via a drive shaft. The battery pack 30 is connected to the drive motor 10 via the motor controller 40 to supply power to the drive motor 10. The operation control terminal 50 is connected to the motor controller 40, and the motor controller 40 is connected to the drive motor 10 via the encoder 60. The system comprises a control terminal 50 for receiving control commands from the operator; an encoder 60 for acquiring the operating parameters of the drive motor 10; a motor controller 40 for controlling the operation of the drive motor 10 according to the control commands from the control terminal 50 and the operating parameters of the drive motor 10, thereby controlling the entire tractor; and an electro-hydraulic control device 70 connected to the battery pack 30 and the attachments of the agricultural tractor. The battery pack 30 supplies power to the electro-hydraulic control device 70, which then drives the attachments of the agricultural tractor to perform corresponding agricultural operations. This invention's single-motor drive system for agricultural tractors completely replaces the traditional fuel engine with a single drive motor 10, which acts as the kinetic energy output unit, achieving a true one-to-one replacement. The highly integrated motor controller 40 realizes both the functions of an MCU microcontroller unit and a VCU vehicle control unit, effectively maximizing resource utilization and ensuring a reduction in both manufacturing and operating costs. This solves the problem that the lack of a stable and efficient solution for the electrification upgrade of fuel tractor drive systems in the prior art has severely hindered the upgrade process of fuel tractors.

[0025] In practical implementation, the drive motor 10 is a permanent magnet synchronous motor, such as... Figure 3 and Figure 4 As shown, the shaft 11 of the drive motor 10 is connected to the input shaft 21 of the three-speed gearbox 20 via a splined shaft or coupling, and the output shaft 22 of the three-speed gearbox 20 is connected to the main drive shaft of the vehicle, which then drives the wheels to move. In this embodiment, the shaft 11 of the drive motor 10 and the input shaft of the three-speed gearbox 20 are connected by a splined shaft. Specifically, a splined bushing is provided at the end of the shaft 11 of the drive motor 10, and a matching splined shaft is used for the input shaft 21 of the three-speed gearbox 20. The splined shaft is inserted into the splined bushing to realize the transmission of power.

[0026] The motor controller 40 in this embodiment has a first power terminal and a second power terminal. The first power terminal is positive, and the second power terminal is negative. The positive and negative terminals of the main power supply terminal of the battery pack 30 are connected to the first and second power terminals respectively through the main power supply line to apply voltage to the motor controller 40. The motor controller 40 precisely controls the speed and torque of the drive motor 10 through the encoder 60. A fuse and a main relay 100 are provided on the main power supply line. The main relay 100 controls the on / off of the power supply from the battery pack 30 to the drive motor 10, and the fuse is used to blow in case of overload to protect the battery pack 30 and the drive motor 10.

[0027] Furthermore, the motor controller 40 also has a 12V power input terminal, including a 12V+_IN terminal and a 12V-_IN terminal. The battery pack 30 has a 12V auxiliary power supply terminal, the positive and negative terminals of which are connected to the corresponding 12V+_IN and 12V-_IN terminals to provide 12V voltage to the motor controller 40. The 12V voltage is used for power signals to various control terminals.

[0028] Furthermore, the motor controller 40 has a key signal terminal, a digital power supply +12V terminal, a throttle switch terminal, a seat switch terminal, a handbrake switch terminal, a throttle power supply +5V terminal, a throttle power supply GND terminal, and a throttle analog input terminal. The operation control terminal 50 includes a key switch, a throttle switch, a seat switch, a handbrake switch, and an electronic throttle 110. The key switch is connected to the key signal terminal, which is used to receive the switch signal from the key switch. The key switch signal is linked with the main relay 100, thereby controlling the on / off of the power supply from the battery pack 30 to the drive motor 10 by controlling the switch of the main relay 100.

[0029] The first terminal of the throttle switch, the first terminal of the seat switch, and the first terminal of the handbrake switch are respectively connected to the +12V digital power supply terminal. The second terminals of the throttle switch, the second terminal of the seat switch, and the second terminal of the handbrake switch are respectively connected to the corresponding terminals of the throttle switch, the seat switch, and the handbrake switch. The terminals of the throttle switch, the seat switch, and the handbrake switch are used to receive the switching signals of the throttle switch, the seat switch, and the handbrake switch. After the throttle switch, the seat switch, and the handbrake switch are closed respectively, the terminals of the throttle switch, the seat switch, and the handbrake switch receive the corresponding switching signals of the throttle switch, the seat switch, and the handbrake switch, thereby determining that the throttle switch is open, there is a driver in the seat, and the handbrake has been released, which is a necessary condition for the drive motor 10 to start working.

[0030] The electronic throttle 110 is connected to the +5V throttle power supply terminal, the GND throttle power supply terminal, and the throttle analog input terminal, respectively. The +5V and GND throttle power supply terminals supply power to the electronic throttle 110, while the analog input terminal receives the actuation signal from the electronic throttle 110. This allows for linear control of the output current to the drive motor 10 based on the specific actuation stroke of the electronic throttle 110, thereby controlling the speed of the drive motor 10.

[0031] In actual operation, the driver first closes the key switch, thereby enabling the key signal terminal to receive a signal indicating that the battery pack 30 is functioning normally. The driver then sequentially closes the throttle switch and the handbrake switch, allowing the throttle to operate normally and the handbrake to be released. Simultaneously, the seat switch automatically senses and closes after the driver sits in the seat. Once all the above conditions are met, the driver can start the drive motor 10 by pressing the electronic throttle 110, thus driving the tractor to begin operation.

[0032] The motor controller 40 has an inverter unit that converts the DC voltage provided by the battery pack 30 into a three-phase AC voltage and supplies it to the drive motor 10. The operating parameters of the drive motor 10 include at least the rotor angle, angular velocity, and speed. The motor controller 40 has resolver excitation terminals R+, R-, SIN+, SIN-, COS+, and COS-, as well as a control power input terminal. The encoder 60 can collect the rotor angle, angular velocity, and speed information of the drive motor 10 during operation and convert it into corresponding electrical signals, which are then sent to the resolver excitation terminals R+, R-, SIN+, SIN-, COS+, and COS-. The motor controller 40 performs real-time control of the operation of the drive motor 10 based on the received signals and the control signals from the electronic throttle 110.

[0033] Furthermore, the operating parameters of the drive motor 10 include at least a temperature signal. The motor controller 40 has a motor temperature + terminal and a motor temperature - terminal, which are respectively connected to the drive motor 10 to receive the real-time temperature signal of the drive motor 10, thereby realizing the monitoring of the working status of the drive motor 10.

[0034] Optionally, the drive motor 10 in this embodiment is a water-cooled motor, the base plate of the motor controller 40 is a water-cooled base plate, the motor controller 40 has a fan PWM control terminal, the single motor drive system of the agricultural tractor in this embodiment also includes a cooling fan 90, the positive and negative terminals of the 12V auxiliary power supply terminal are connected to the power receiving terminal of the cooling fan 90 to supply power to the cooling fan 90, the fan PWM control terminal is connected to the control terminal of the cooling fan 90 to control the cooling fan 90, and the cooling fan 90 is opposite to the base plate of the drive motor 10 and the motor controller 40 to dissipate heat from the drive motor 10 and the motor controller 40.

[0035] Furthermore, the motor controller 40 has RS485_A and RS485_B terminals, which are connected to a controller diagnostic interface. Through the controller diagnostic interface, external testing equipment can be connected to diagnose faults in the motor controller 40.

[0036] Furthermore, the single-motor drive system of the agricultural tractor also includes a display instrument 80. The display instrument 80 is connected to the motor controller 40, battery pack 30, and electro-hydraulic control device 70 via a CAN bus. The CAN protocol conforms to CAN 2.0B specifications. Specifically, the motor controller 40 has CAN_H and CAN_L terminals, which are connected to the display instrument 80 via the CAN bus to display various operating parameters. The battery pack 30 and electro-hydraulic control device 70 are directly connected to the display instrument 80 via the CAN bus, thereby displaying the operating status of the battery pack 30 and the electro-hydraulic control device 70.

[0037] Furthermore, the electro-hydraulic control device 70 is connected to the main power supply line, and the main power supply line directly supplies power to the electro-hydraulic control device 70 to drive the attachments of the agricultural tractor, such as driving the plow, harrow, and seeder, thereby realizing the corresponding agricultural operations.

[0038] When the single-motor drive system of the engineering vehicle in this embodiment of the utility model starts normally, the battery pack 30 provides voltage to the motor controller 40 through the power supply logic of the BMS. After starting by the key switch, the motor controller 40 inverts the DC voltage of the battery pack 30 into a three-phase AC voltage and outputs it to the drive motor 10. The drive motor 10 drives the tractor to run through the three-speed gearbox 20.

[0039] When the battery pack 30 has a low capacity, data is exchanged via the CAN bus. The motor controller 40 reduces the torque of the drive motor 10 by controlling the output power, thereby reducing the vehicle's energy consumption. This ensures that the vehicle can be driven to a charging location to charge the battery pack 30. When the battery is fully charged, the motor controller 40 returns to normal operation.

[0040] If the drive motor 10 or other electrical components malfunction or trigger an alarm, the motor controller 40 controls the main relay 100 to disconnect or reduce the output power of the drive motor 10. Simultaneously, the motor controller 40 transmits this information to the battery pack 30 via the CAN bus, thereby protecting the battery pack 30 and preventing damage and accidents caused by short circuits. The battery pack 30 has an emergency stop switch. In an emergency, manually pressing the emergency stop switch can stop the reaction of the battery pack 30's fuel cell stack, thus cutting off the power supply.

[0041] This invention employs a single controller and a single motor to form a drive system, achieving a true one-to-one electrification upgrade of a fuel-powered tractor. It eliminates the need to replace existing fuel-powered tractors, effectively saving costs and making full use of existing resources, thus avoiding waste.

[0042] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A single-motor drive system for an agricultural tractor, characterized in that, include: Drive motor (10); A three-speed gearbox (20) has an input shaft (21) connected to the rotating shaft (11) of the drive motor (10) and an output shaft (22) connected to the axle of the agricultural tractor via a transmission shaft. A battery pack (30) and a motor controller (40), wherein the battery pack (30) is connected to the drive motor (10) via the motor controller (40) to supply power to the drive motor (10); The system includes an operation control terminal (50) and an encoder (60). The operation control terminal (50) is connected to the motor controller (40), and the motor controller (40) is connected to the drive motor (10) through the encoder (60). The operation control terminal (50) is used to receive control commands from the operator. The encoder (60) is used to acquire the operating parameters of the drive motor (10). The motor controller (40) is used to control the operation of the drive motor (10) according to the control commands from the operation control terminal (50) and the operating parameters of the drive motor (10). An electro-hydraulic control device (70) is connected to the battery pack (30) and the attachments of the agricultural tractor, and the electro-hydraulic control device (70) is used to drive the attachments of the agricultural tractor.

2. The single-motor drive system for agricultural tractors according to claim 1, characterized in that, The motor controller (40) has a first power terminal and a second power terminal, and the main power supply terminal of the battery pack (30) is connected to the first power terminal and the second power terminal through the main power supply line; The main power supply line is equipped with a fuse and a main relay.

3. The single-motor drive system for agricultural tractors according to claim 2, characterized in that, The electro-hydraulic control device (70) is connected to the main power supply line.

4. The single-motor drive system for agricultural tractors according to claim 1, characterized in that, The motor controller (40) has a 12V power input terminal, and the battery pack (30) has a 12V auxiliary power supply terminal. The 12V auxiliary power supply terminal is connected to the 12V power input terminal to provide 12V voltage to the motor controller (40).

5. The single-motor drive system for agricultural tractors according to claim 1, characterized in that, The motor controller (40) has a key signal terminal, a digital power supply +12V terminal, a throttle switch terminal, a seat switch terminal, a handbrake switch terminal, a throttle power supply +5V terminal, a throttle power supply GND terminal, and a throttle analog input terminal. The operation control terminal (50) includes: A key switch, wherein the key switch is connected to a key signal terminal, and the key signal terminal is used to receive the switch signal of the key switch; The system includes a throttle switch, a seat switch, and a handbrake switch. The first terminals of the throttle switch, the seat switch, and the handbrake switch are respectively connected to the +12V digital power supply terminal. The second terminals of the throttle switch, the seat switch, and the handbrake switch are correspondingly connected to the terminals of the throttle switch, the seat switch, and the handbrake switch, respectively. The terminals of the throttle switch, the seat switch, and the handbrake switch are used to receive the switching signals from the throttle switch, the seat switch, and the handbrake switch, respectively. An electronic throttle is provided, which is connected to the +5V throttle power supply terminal, the GND throttle power supply terminal, and the analog throttle input terminal, respectively. The +5V throttle power supply terminal and the GND throttle power supply terminal are used to supply power to the electronic throttle, and the analog throttle input terminal is used to receive the action signal of the electronic throttle.

6. The single-motor drive system for agricultural tractors according to claim 1, characterized in that, The operating parameters of the drive motor (10) include at least the rotor angle, angular velocity and rotational speed. The motor controller (40) has resolver excitation terminal R+, resolver excitation terminal R-, resolver feedback terminal SIN+, resolver feedback terminal SIN-, resolver feedback terminal COS+, resolver feedback terminal COS- and control power input terminal. The resolver excitation terminal R+, the resolver excitation terminal R-, the resolver feedback terminal SIN+, the resolver feedback terminal SIN-, the resolver feedback terminal COS+, the resolver feedback terminal COS- and control power input terminal are respectively connected to the encoder (60) to receive the rotor angle, angular velocity and rotational speed signals of the drive motor (10).

7. The single-motor drive system for agricultural tractors according to claim 1, characterized in that, The operating parameters of the drive motor (10) include at least a temperature signal. The motor controller (40) has a motor temperature + terminal and a motor temperature - terminal. The motor temperature + terminal and the motor temperature - terminal are respectively connected to the drive motor (10) to receive the temperature signal of the drive motor (10).

8. The single-motor drive system for agricultural tractors according to claim 7, characterized in that, The drive motor (10) is a water-cooled motor, the base plate of the motor controller (40) is a water-cooled base plate, the battery pack (30) has a 12V auxiliary power supply terminal, the motor controller (40) has a fan PWM control terminal, and the agricultural tractor single motor drive system also includes: A cooling fan (90) is provided, wherein the 12V auxiliary power supply terminal is connected to the power receiving terminal of the cooling fan (90) to supply power to the cooling fan (90), the fan PWM control terminal is connected to the control terminal of the cooling fan (90) to control the cooling fan (90), and the cooling fan (90) is opposite to the base plate of the drive motor (10) and the motor controller (40) to dissipate heat from the drive motor (10) and the motor controller (40).

9. The single-motor drive system for agricultural tractors according to claim 1, characterized in that, The motor controller (40) has an RS485_A terminal and an RS485_B terminal. The RS485_A terminal and the RS485_B terminal are connected to a controller diagnostic interface via a CAN bus. The controller diagnostic interface is used to diagnose faults in the motor controller (40).

10. The single-motor drive system for agricultural tractors according to claim 1, characterized in that, The single-motor drive system for the agricultural tractor also includes: The display instrument (80) is connected to the motor controller (40), the battery pack (30) and the electro-hydraulic control device (70) via a CAN bus. The display instrument (80) is used to display the operating parameters of the drive motor (10), the working status of the battery pack (30) and the working status of the electro-hydraulic control device (70).

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