Mechanical configurations and control systems that enable replaceable power supplies

Abstract

The machine (2) is adapted for operation powered by any one of a plurality of interchangeable power sources (33). The machine (2) may include an undercarriage configured to support a ground-engaging member (4) that propels the machine (2), and an upper structure (6) rotatably supported on the undercarriage. The upper structure (6) may include a swing frame (22) that supports an operator cab (24), any one of a plurality of interchangeable power sources, hydraulic components, electrical components, and a counterweight (126, 226) disposed at a first end of the swing frame. The counterweight (226) may include a hollow portion (222) facing toward the swing frame (22). The hollow portion (222) of the counterweight (226) may be centrally aligned with a central core portion (310) of the pivoting frame (22) configured to support any one of a plurality of interchangeable power sources (33), with one power source being partially housed within the hollow portion (222) of the counterweight (226).

Description

Technical Field

[0001] The present disclosure relates to a machine having a replaceable power source, and more particularly to a mechanical configuration and a control system that enable a replaceable power source.

Background Art

[0002] Some conventional machines have a hydraulic power source for operating hydraulic actuators. For example, such a machine may typically include an internal combustion engine for driving one or more hydraulic pumps that supply power to one or more hydraulic actuators for performing work. An example of such a machine is a hydraulic excavator. A hydraulic excavator may typically include one or more hydraulic pumps that provide hydraulic power in the form of a pressurized fluid flow to one or more hydraulic motors and hydraulic cylinders for the operation of a slewing mechanism, a boom, a stick, and a digging implement. In such a machine, the hydraulic motor can be used to rotate the cab relative to the chassis to which the cab is attached and to drive a ground engaging device such as wheels or tracks for moving the machine. The hydraulic power provided to the hydraulic actuators can be used to raise and lower the boom and to operate the stick and the digging implement for performing excavation and / or loading operations.

[0003] To increase the efficiency resulting from the operation of internal combustion engines and / or reduce undesirable emissions, efforts are made to recapture some of the energy typically lost during the operation of such machines. For example, energy can be recaptured in the form of stored electrical and hydraulic energy for use by electrical and hydraulic systems. Thus, by using both electrical and hydraulic systems, it may be desirable to perform some working functions with machines that have both stored hydraulic and electrical energy. Typical machines, such as internal combustion engines, are designed and configured for only one power plant. However, even with improvements in engine performance and / or efficiency, when employing internal combustion engines, it is generally necessary to provide exhaust aftertreatment systems, as well as fuel control systems, air supply systems, and cooling systems, in order to achieve the desired engine performance and efficiency and meet government-mandated emission standards. Thus, as an alternative to conventional internal combustion engines such as diesel engines, it may be desirable to enable the installation of alternative and potentially interchangeable power plants such as fully battery-powered systems, fuel cell systems, and wired cable systems that receive power from an external power source, and to provide corresponding machine configurations. A machine can be configured to completely eliminate any internal combustion engine if all the power requirements for operating the machine's various systems and subsystems over a given period of time can be met by power stored in a battery. For example, a fully battery-powered machine can also benefit from the elimination of other components and systems related to fuel storage, fuel supply, and liquid cooling systems with a complex network of fuel storage, fuel injection, ignition, exhaust aftertreatment, coolant passages, pumps, and radiators, as well as power generated by converting energy from the combustion of the fuel mixture in the engine's cylinders into rotational output on the drive shaft.Furthermore, it may be desirable to provide a machine control system and method that automatically senses the type of power supply used on the machine, processes the detected output and characteristics specific to that power supply, and enables a standardized power output to provide normalized, consistent control and operation of the machine system, regardless of the type of power supply used with the machine engine control module (ECM).

[0004] Hybrid construction machinery is disclosed in U.S. Patent No. 7,669,413 B2 ('413 Patent) by Komiyama et al. In particular, the '413 Patent discloses a hybrid excavator comprising a hydraulic pump, a generator motor connected in parallel to the engine's output shaft, and a rotary motor driven by a battery. The generator motor assists the engine by performing motor functions. The power consumption of the hydraulic pump and the rotary motor is detected, and the outputs of the hydraulic pump and the rotary motor are controlled so that the sum of the detected power consumption does not exceed a maximum supply power set as the sum of the power that can be supplied to the hydraulic pump and the rotary motor.

[0005] The machine disclosed in the '413 patent includes both electrical and hydraulic systems, but the machine disclosed in the '413 patent still requires an internal combustion engine having a hydraulic pump connected to the engine's output shaft. Consequently, the machine disclosed in the '413 patent requires a liquid cooling system having a complex network of fuel storage, fuel supply, fuel injection system, ignition system, exhaust aftertreatment system, coolant passages, pumps, and radiators, as well as other components and systems related to the power generated by converting the energy from the explosion of the fuel mixture in the engine's cylinders into rotational output on the drive shaft. [Overview of the Initiative]

[0006] In one embodiment, the disclosure is directed to a machine adapted for operation powered by one of a plurality of interchangeable power sources. The machine may include a lower travel body configured to support ground engagement members that propel the machine, and a superstructure rotatably supported on the lower travel body. The superstructure may include a slewing frame, which is configured to support an operator's cab, one of a plurality of interchangeable power sources, hydraulic components, and electrical components. A counterweight may be located at a first end of the slewing frame, which includes a hollow portion facing the slewing frame, and the hollow portion is centered with a central core portion of the slewing frame, which is configured to support one of a plurality of interchangeable power sources, with one power source partially housed within the hollow portion of the counterweight.

[0007] In another embodiment, the disclosure is directed to a machine adapted to operation powered by a battery. The machine may include a lower travel body configured to support ground engagement members that propel the machine, and a superstructure rotatably supported on the lower travel body. The superstructure may include a slewing frame configured to support an operator's cab, a battery, hydraulic components, and electrical components. A counterweight may be located at a first end of the slewing frame, and the counterweight includes a hollow portion facing the slewing frame, which is centrally aligned with a central core portion of the slewing frame configured to support a battery, and the battery is partially housed within the hollow portion of the counterweight.

[0008] In a further embodiment, the disclosure is directed toward a machine adapted for normal operation powered by one of a plurality of interchangeable full-size power supplies, and toward selective temporary operation between one or more of the manufacturing, loading, shipping, or delivery of the machine, the selective operation being powered by a temporary battery having a smaller power capacity than one of the plurality of full-size power supplies. The machine includes a lower travel body configured to support ground engagement members that propel the machine, and a superstructure rotatably supported on the lower travel body, the superstructure including a slewing frame. The slewing frame may be configured to support an operator's cab, one of a plurality of full-size power supplies, and a temporary battery, hydraulic components, and electrical components. A counterweight may be located at a first end of the slewing frame, and the counterweight includes a hollow portion facing the slewing frame, which is centrally aligned with a central core portion of the slewing frame configured to support the temporary battery during selective temporary operation and one of the plurality of full-size power supplies during normal operation. One of the plurality of full-size power supplies and the temporary battery may be partially housed within the hollow portion of the counterweight. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram of an exemplary embodiment of the machine, which may include a configuration and control system that enables a replaceable power supply. [Figure 2] Figure 2 is a schematic diagram of an exemplary embodiment of the power system of the machine shown in Figure 1. [Figure 3] Figure 3 is a schematic diagram of an exemplary control strategy for the operation of the engine and electrical and hydraulic systems in an exemplary machine. [Figure 4] Figures 4–6 are partially exploded perspective views of exemplary embodiments of the machine, which may include configurations and control systems that enable interchangeable power supplies. [Figure 5] Same as above. [Figure 6] Same as above. [Figure 7]Figure 7 is a schematic diagram showing an exemplary swing frame and counterweight of the machine before and after the removal of the internal combustion power supply, and modifications that allow for the installation of a replaceable power supply. [Figure 8] Figure 8 is a magnified schematic view of an exemplary slewing frame from Figure 7, modified to allow for the installation of a replaceable power supply. [Figure 9] Figure 9 is a schematic diagram of an exemplary slewing frame layout of the machine, which may include a configuration and control system that allows for interchangeable power supplies. [Modes for carrying out the invention]

[0010] Figure 1 shows an exemplary embodiment of machine 2 for performing work. In particular, the exemplary machine 2 shown in Figure 1 is an excavator configured to perform operations such as digging and / or loading material. Although the exemplary systems and methods disclosed herein are described in relation to excavators, the disclosed systems and methods may have applications in other machines such as automobiles, trucks, agricultural vehicles, work vehicles, wheel loaders, bulldozers, loaders, truck-type tractors, graders, off-highway trucks, or any other machines known to those skilled in the art.

[0011] As shown in Figure 1, the exemplary machine 2 may include a lower running body (or chassis) including ground engagement members 4 (e.g., tracks or wheels) for moving the machine 2. The machine 2 may also include an operator cab 24 mounted on an upper slewing body 6, which is rotatably mounted on the lower running body in a manner that allows the cab 24 to rotate relative to the lower running body. An actuation arm device 8 may also be mounted on the upper slewing body 6 and may be configured to move vertically. The upper slewing body 6 includes a slewing frame 22 that can slewing about a vertical axis relative to the lower running body, an operator cab 24 located on the left front of the slewing frame 22, a counterweight 126 located on the rear of the slewing frame 22, a power supply including a chamber 28 located in front of the counterweight 126, a door 30 pivotally mounted on the slewing frame 22 and configured to cover the side portion of the chamber 28, and a hood 32 pivotally mounted on the slewing frame 22 and configured to cover the upper side of the chamber 28.

[0012] The operating arm device 8 may include a boom 10 coupled to the cab 24 in a manner that allows the boom 10 to pivot relative to the cab 24. Opposite to the cab 24, at the distal end of the boom 10, a stick 12 may be coupled to the boom 10 in a manner that allows the stick 12 to pivot relative to the boom 10. Tools 14 (e.g., mining tools or buckets) may be coupled to the stick 12 in a manner that allows the tools 14 to pivot relative to the stick 12. The exemplary machine 2 shown in Figure 1 includes a mining tool, but other tools may be coupled to the stick 12 when other types of work are desired to be performed.

[0013] In the exemplary embodiments shown, a pair of actuators 16 (only one is shown) may be coupled to the cab 24 and boom 10 such that the extension and retraction of actuators 16 cause the boom 10 to rise and fall relative to the cab 24, respectively. Another actuator 18 may be coupled to the boom 10 and stick 12 such that the extension and retraction of actuator 18 causes the stick 12 to pivot inward and outward relative to the boom 10, respectively. Yet another actuator 20 may be coupled to the stick 12 and mining tool 14 such that the extension and retraction of actuator 20 causes the mining tool 14 to pivot between a closed position and an open position relative to the stick 12, respectively.

[0014] As will be described in more detail with respect to Figure 2, the exemplary machine may include a plurality of actuators 25, 26, and 27 configured to move various components of the machine relative to one another. For example, actuator 25 may be equivalent to actuator 16 of an excavator, shown in Figure 1 and configured to move the boom 10 relative to the cab 24. Actuator 26 may be equivalent to actuator 18, shown in Figure 1 and configured to move the stick 12 relative to the boom 10. Actuator 27 may be equivalent to actuator 20, shown in Figure 1 and configured to move the mining equipment 14 relative to the stick 12. Each of the actuators 25, 26, and 27 may be a hydraulic device, and in particular may be a hydraulic cylinder driven by supplying and discharging fluid from cylinders on both sides of a piston to cause a reciprocating motion of a piston within the cylinder. One or more actuators 25, 26, and 27 may be non-hydraulic actuators without departing from the concepts disclosed herein. Furthermore, the number of actuators coupled to the boom 10, the stick 12, and / or the device 14, respectively, can be changed without departing from the concepts disclosed herein.

[0015] Referring to Figure 2, the exemplary machine 2 may include a power system 15, which includes electrical and hydraulic devices that operate via electric and hydraulic power sources, respectively, and are controlled by a controller. According to various exemplary embodiments of the present disclosure, the exemplary power system 15 may include one of several interchangeable power sources, such as an internal combustion engine, a battery, a fuel cell, or direct operation of the power system on machine 2 connected to an external power source such as a power grid or an external generator via slip rings and wired cables. Examples of exemplary internal combustion engines include, for example, compression ignition engines, spark ignition engines, gas turbine engines, isocharge compression ignition engines, two-stroke engines, four-stroke engines, or any type of internal combustion engine known to those skilled in the art. The internal combustion engine may be configured to operate with any fuel or combination of fuels, such as diesel, biodiesel, gasoline, ethanol, methanol, or any fuel known to those skilled in the art. Furthermore, the internal combustion engine may be supplemented by a hydrogen-driven engine, a fuel cell, a solar cell, and / or any power source known to those skilled in the art.

[0016] In the exemplary embodiment shown in Figure 2, the power system 15 may include an electric motor / generator 34. The motor / generator 34 may be electrically coupled to an inverter 36 (e.g., a DC-AC inverter), which may be electrically coupled to a bus 38 (e.g., a DC bus). The exemplary power system 15 may further include a converter 40 electrically coupled to the bus 38. The converter 40 may be a DC-DC converter, which may be electrically coupled to an electrical storage device 42. The electrical storage device 42 may include one or more batteries and / or supercapacitors configured to store electrical energy supplied from the motor / generator 34 and / or any electrical energy generated by capturing energy related to the operation of the machine 2, such as energy captured from regenerative braking of moving parts of the machine, such as a grounding engagement member 4, or energy captured from the rotation of the slewing frame 22 and cab 24. The electrical energy stored in the electrical storage device 42 may be used as a power source, as will be described in more detail below.

[0017] The exemplary power system 15 may further include an inverter 44 (e.g., a DC-AC inverter) coupled to a bus 38. The inverter 44 is electrically coupled to an electric motor / generator 46 (e.g., an AC motor / generator). In the exemplary embodiment shown, the motor / generator 46 is coupled to the cab 24 such that the operation of the motor / generator 46 rotates the cab 24 relative to the lower running gear. Furthermore, the motor / generator 46 can decelerate and stop the rotation of the cab 24 in a regenerative manner, resulting in the generation of electrical energy that can be routed to an electrical storage device 42 via the inverter 44, bus 38, and converter 40 for later supply to electric actuators such as motors / generators 34 and 46. According to some embodiments, the electrical energy in the electrical storage device 42 may also be routed to the motor / generator 34 via the converter 40, bus 38, and inverter 36, and then used to drive one or more of the hydraulic pumps / motors 48a and 48b, thereby enabling the power supply to drive the hydraulic system in the machine. In alternative embodiments where the main power source of a machine having a power system 15 is a different interchangeable power source such as an internal combustion engine or a fuel cell, electrical energy from the electrical storage device 42 or one or more of the motor / generator 46 and motor / generator 34 may supplement the internal combustion engine or fuel cell and / or drive one or more hydraulic pumps / motors 48a and 48b. According to some embodiments, the electrical energy generated by the motor / generator 34 and / or motor / generator 46 may not necessarily be stored in the electrical storage device 42, but may be routed between the two motor / generators 34 and 46, for example, by routing from the motor / generator 46 to the motor / generator 34 via the inverter 44, bus 38, and inverter 36, or from the motor / generator 34 to the motor / generator 46 via the inverter 36, bus 38, and inverter 44.

[0018] In the exemplary embodiment shown in Figure 2, the motor / generator 34 is coupled to two hydraulic pump / motors 48a and 48b, which may include fixed-displacement pumps or variable-displacement pumps. Although the exemplary embodiment shown includes two pump / motors 48a and 48b, a single pump / motor or more than two pump / motors may be used. In the exemplary configuration shown, the motor / generator 34 supplies power to drive the pump / motors 48a and 48b, which then supplies hydraulic power to the power system 15 by causing pressurized fluid to flow between the hydraulic cylinders 25, 26 and 27. Furthermore, according to some embodiments, one or more of the pump / motors 48a and 48b may also drive the motor / generator 34, which may then supply power to the electrical equipment of machine 2.

[0019] In the exemplary embodiment shown in Figure 2, pumps / motors 48a and 48b are hydraulically coupled to a control valve 50, so that pumps / motors 48a and 48b supply pressurized fluid to the control valve 50 and control the flow of fluid to and from the hydraulic system of machine 2. For example, as shown in Figure 2, the control valve 50 is hydraulically coupled to hydraulic cylinders 25, 26, and 27, as well as a hydraulic pump / motor 52, and drives the ground engagement member 4 when a pressurized fluid flow is supplied. Although a single hydraulic motor 52 is shown, the power system 15 may include one or more hydraulic motors 52, for example, one for each of the ground engagement members 4. Furthermore, the hydraulic pump / motor 52 can decelerate and stop the ground engagement member 4 in a regenerative manner, which results in the generation of hydraulic energy that can be rerouted to supply hydraulic power to the power system 15 and / or to supply hydraulic power to the pumps / motors 48a and 48b, as detailed below, and which can supplement the electric storage device 42.

[0020] The exemplary power system 15 may also include an accumulator 54 that is hydraulically coupled to the control valve 50. The accumulator 54 may be configured to store hydraulic energy captured during operation of the power system 15. For example, as described above, the hydraulic motor 52 may be configured to slow the movement of the ground engaging member 4 by operating as a pump such that the ground engaging member 4 drives the pump, thereby slowing the ground engaging member 4. The energy supplied to the hydraulic fluid by pumping may be routed through the control valve 50 for storage in the accumulator 54 for later use and / or may be routed to the pumps / motors 48a and 48b.

[0021] In the exemplary power system 15, the hydraulic cylinders 25, 26, and 27 may each be hydraulically coupled to the control valve 50. As described with respect to FIG. 1, the hydraulic cylinders 25, 26, and 27 may be equivalent to the cylinders 16, 18, and 20 coupled to the boom 10, stick 12, and implement 14, respectively, for operating the boom 10, stick 12, and implement 14. Similar to the hydraulic motor 52, the hydraulic cylinders 25, 26, and 27 may be operated regeneratively such that hydraulic energy is generated that may be rerouted to supply hydraulic power to the power system 15 and / or stored in the accumulator 54. For example, when a boom such as boom 10 of FIG. 1 is lowered from an elevated position, pressurized fluid is forced from the hydraulic cylinder 16 in a controlled manner. Similarly, movement of the components on the machine having the power system 15 of FIG. 2 may result in forcing pressurized fluid from the cylinder 25 of FIG. 2 in a controlled manner. This pressurized fluid may be routed through the control valve 50 for storage in the accumulator 54 and / or may be routed to one or more of the pumps / motors 48a, 48b, and 52 to assist in the operation of those hydraulic devices.

[0022] The exemplary power system 15 shown in Figure 2 may include a control system 55 for controlling the power system 15. For example, the power system 15 may include an operator interface 56, which may be located in the cab 24. According to some embodiments, the operator interface 56 may be located remotely from the machine 2 for remote control of the machine 2. The exemplary operator interface 56 may include a number of control devices (e.g., levers, pedals, and / or buttons) for controlling the machine 2 and its functions. In the exemplary embodiment shown, the operator interface 56 may be electrically and / or hydraulically coupled to a control valve 50 so that electrical and / or hydraulic control signals (e.g., via a hydraulic pilot circuit) can be sent from the operator interface 56 to the control valve 50. These electrical and hydraulic control signals may be used to control the operation of the control valve 50 for the operation and control of the hydraulic equipment of the power system 15. Furthermore, the operator interface 56 may be electrically coupled to a controller 58 configured to control the operation of one or more electrical and hydraulic equipment of the exemplary power system 15, as will be described in more detail below.

[0023] Furthermore, the controller 58 can be coupled to a plurality of sensors associated with the devices of the machine 2 in order to receive signals indicative of the operation of the devices. For example, the machine 2 can include the following sensors: a motor / generator sensor 34a associated with the motor / generator 34, a storage device sensor 42a associated with the electrical storage device 42, a motor / generator sensor 46a associated with the motor / generator 46, pump / motor sensors 48c and 48d respectively associated with the pumps / motors 48a and 48b, hydraulic sensors 25a, 26a, and 27a respectively associated with the hydraulic cylinders 25, 26, and 27 (equivalent to the hydraulic cylinders 16, 18, 20 of the exemplary shovel 2 of FIG. 1), an accumulator sensor 54a associated with the accumulator 54, and a pump / motor sensor 52a associated with the pump / motor 52. Each of the sensors identified above can include a single sensor or a plurality of sensors operating together to provide a signal indicative of the operation of the associated device.

[0024] The electrical storage device sensor 42a can include a charge sensor, a current sensor, a voltage sensor, and / or other electrical storage device-related sensors. The motor / generator sensors 34a and 46a can include speed sensors, current sensors, voltage sensors, and / or other motor / generator-related sensors. The pump / motor sensors 48c, 48d, and 52a can include speed sensors, flow rate sensors, pressure sensors, and / or other hydraulic-related sensors. The accumulator sensor 54a can include a pressure sensor and / or other hydraulic-related sensors.

[0025] The controller 58 may include one or more processors, microprocessors, central processing units, onboard computers, electronic control modules, and / or any other computing and control devices known to those skilled in the art. The controller 58 may be configured to run one or more software programs or applications stored in memory locations, read from computer-readable media, and / or be accessed by external devices operably coupled to the controller 58 by any suitable communication network.

[0026] The exemplary controller 58 may be configured to control the operation of the exemplary power system 15, which includes the battery 33 and various electrical and hydraulic devices of the exemplary machine 2. For example, the controller 58 may be configured to communicate with each of the electrical and hydraulic devices, acting as both a potential power supply and power consumption device for electrical and hydraulic power, and to coordinately control the operation of the mains power supplies of the machine 2 and the electrical and hydraulic devices to provide the desired machine performance and efficiency when requested by the operator.

[0027] For example, the electric motors / generators 34 and 46 may operate either by consuming power or by supplying power. They may consume power when operating to accelerate devices driven by the motors / generators 34 and 46. For example, motor / generator 34 may be driven to assist battery 33 or another different, interchangeable power source for machine 2 by supplying power to hydraulic pumps / motors 48a and 48b, and motor / generator 46 may be driven to rotate cab 24. Motor / generator 34 may also generate power by using the generator portion of motor / generator 34 to supply power to power system 15 when driven to decelerate vehicle 2. Motor / generator 46 may also operate to supply power to power system 15 in a similar manner when decelerating the rotation of cab 24. Furthermore, when operating in generator mode, motors / generators 34 and 46 may supply power to each other and to energy storage device 42.

[0028] The energy storage device 42 can also operate as a power supply or power consumption device. For example, the energy storage device 42 can operate as a power supply device by supplying power to the motor / generator 34 to assist the output of the battery 33 and / or to the motor / generator 46 to rotate the cab 24. The energy storage device 42 can also act as a power consumption device when storing the power received from the motor / generators 34 and 46.

[0029] Hydraulic systems can also be considered both consuming and supplying hydraulic power. For example, pumps / motors 48a, 48b, and 52 may operate either by consuming or supplying hydraulic power. They may consume hydraulic power, for example, by operating to increase the flow rate and / or pressure of the hydraulic system in order to operate the hydraulic cylinders 25, 26, and 27 against a load. Furthermore, pumps / motors 48a, 48b, and 52 may operate to consume hydraulic power in order to drive another pump / motor and / or to supply pressurized fluid to the accumulator 54. For example, one or more pumps / motors 48a and 48b may operate as pumps that supply fluid to drive pump / motor 52 in order to drive the ground engagement member 4 for moving the machine 2.

[0030] Pumps / motors 48a, 48b, and / or 52 can also supply hydraulic power to the power system 15. For example, when the operation of machine 2 is reduced via pumps / motors 52, pumps / motors 52 convert the kinetic energy of machine 2 by pumping hydraulic fluid, thereby supplying hydraulic power to the power system 15, which can be used by pumps / motors 48a and 48b, to supplement the battery 33 in supplying power to the electric motor / generator 34, to assist the operation of hydraulic cylinders 25, 26, and 27 under load, and / or to supply pressurized fluid to the accumulator 54 for storage.

[0031] Similarly, the hydraulic cylinders 25, 26, and 27 may act to either consume or supply hydraulic power. For example, referring to the exemplary excavator in Figure 1, when the boom 10 is lowered, the hydraulic cylinder 16 (which may be equivalent to cylinder 25 in Figure 2) may act to supply hydraulic power to the hydraulic system in the form of a pressurized fluid, which may be used to power the pumps / motors 48a, 48b, and 52, the other hydraulic cylinders 26 and 27, and / or the accumulator 54. The hydraulic cylinder 25 may also act as a power-consuming device when acting against a load (for example, when the equivalent cylinder 16 of the exemplary excavator 2 in Figure 1 raises the boom 10) by drawing hydraulic power from one or more of the pumps / motors 48a, 48b, and 52, the accumulator 54, and / or the other hydraulic cylinders 26 and 27.

[0032] The accumulator 54 can also operate as a hydraulic power supply or consumption device. For example, the accumulator 54 can operate as a hydraulic power supply device by supplying pressurized fluid to pumps / motors 48a and 48b to assist the output of battery 33, to hydraulic cylinders 25, 26, and 27 to act against a load, and / or to pump / motor 52 to drive the ground engagement member 4. The accumulator 54 can operate as a hydraulic power consumption device when storing hydraulic power in the form of pressurized fluid received from pumps / motors 48a, 48b, and 52 and / or hydraulic cylinders 25, 26, and 27.

[0033] An exemplary controller 58 is configured to receive request signals indicating the requested operation of electrical and hydraulic equipment, such as signals received from the operator interface 56, and to control the power and hydraulic power of machine 2 according to a control strategy. For example, the controller 58 may be configured to receive request signals from the interface 56, and, upon receiving the request signals, operation signals from the electrical and hydraulic equipment. The operation signals indicate the state of each electrical and hydraulic equipment at the time the request signals are received. For example, the operation signals may be signals received from sensors associated with each electrical and hydraulic equipment and may include information about the power supplied or consumed by the electrical and hydraulic equipment at the time the request signals are received. The operation signals may also indicate the ability of the electrical and hydraulic equipment to either supply or consume power when the request signals are received by the controller 58. According to some embodiments, the operation signals may also include signals related to the operation of the battery 33, or one of several alternative and interchangeable power sources, such as an internal combustion engine, a fuel cell, or a wired cable power supply. The controller 58 may determine the level of power supplied or consumed by either the interchangeable power supply and the electrical or hydraulic equipment based on the request signal, the operation signal, and the control strategy, and may provide control signals to control the operation of either the interchangeable power supply and the electrical or hydraulic equipment of the machine 2.

[0034] Figure 3 is a schematic diagram of an exemplary control strategy 60 for the operation of one of several interchangeable power sources on machine 2, such as the battery 33 in Figure 2, and the associated electrical and hydraulic equipment of the exemplary machine 2. As shown in Figure 3, the exemplary control strategy 60 may include subsystem controls 62 and monitoring controls 64. The exemplary subsystem controls 62 may include a battery subsystem control 62a for controlling the operation of the battery 33, an electrical subsystem control 62b for controlling the operation of the electrical equipment of the electrical subsystem, and a hydraulic subsystem control 62c for controlling the operation of the hydraulic equipment of the hydraulic subsystem. Some embodiments may include additional subsystem controls for controlling the operation of other devices.

[0035] The subsystem control 62 is configured to provide the monitoring control 64 with a request signal 66 indicating the requested operation of the electrical and hydraulic equipment. According to some embodiments, the monitoring control 64 may receive the request signal 66 directly from a source other than the subsystem control 62, such as the operator interface 56 and / or the battery 33 and the electrical and hydraulic equipment itself.

[0036] The subsystem control 62 is also configured to provide request and range signals for the operation of energy storage devices associated with each electrical subsystem and hydraulic subsystem, based on the interrelationships of the operation of devices within each subsystem. For example, within the electrical subsystem, the electrical subsystem control 62b provides a request signal to control the operation of the electrical storage device 42 based on the operation of other devices within the electrical subsystem. Similarly, within the hydraulic subsystem, the hydraulic subsystem control 62c provides a request signal to control the operation of the accumulator 54 based on the operation of other devices within the hydraulic subsystem.

[0037] The subsystem control 62 is also configured to provide a range signal 68 indicating an acceptable range of electrical and hydraulic power levels related to the operation of the electrical and hydraulic devices upon receiving a request signal 66. The range signal 68 may also be based on how the devices function within their respective subsystems. For example, for the electrical subsystem, the range signal 68 for each electrical device may be based on the interrelationships of the operation of the electrical devices within the electrical subsystem, for example, as will be described in more detail below with respect to the electrical storage device 42. Similarly, for the hydraulic subsystem, the range signal 68 for each hydraulic device may be based on the interrelationships of the operation of the hydraulic devices within the hydraulic subsystem, for example, as will be described in more detail below with respect to the accumulator 54.

[0038] The monitoring control 64 is configured to determine control signals 70 for controlling the operation of the battery 33 and the electrical and hydraulic equipment, based on the operation signal 72 (as described herein), the range signal 68, and the request signal 66 indicating the requested operation of the electrical and hydraulic equipment. In this exemplary form, the controller 58 evaluates the operation of the battery 33, including the current state of the battery 33, battery temperature, power output, current output, voltage output, etc., and the operation of the electrical and hydraulic equipment, etc., compares the requested operation of the equipment with the actual real-time operation, and controls the operation of the battery 33 and the powered equipment in an adjusted manner to provide desired mechanical performance and improve efficiency.

[0039] The controller 58 may include a software and application programming interface (API) that defines the interaction between multiple software intermediate devices adapted and configured to receive and process variables, control parameters, and standards associated with each of several interchangeable power sources, such as internal combustion engines, batteries, fuel cells, and wired cable power systems. The controller 58 may also be configured to interface with the main machine electronic control module (ECM) and the electro / hydraulic system ECM. The controller 58 may be configured to sense and process output and operating characteristics specific to the particular power source actually used on the machine, utilizing control logic, various inputs, outputs, sensed and processed signals, stored, sensed, and / or processed data, parameters, variables, etc. (which may be obtained, for example, at least in part, from quick reference tables and / or maps). Furthermore, the controller 58 may be configured to standardize the power output from the specific interchangeable power sources mounted on and used on the machine, providing normalized, consistent control and operation of various electro-hydraulic machine systems powered by the power sources, regardless of the type of power source used on the machine.

[0040] According to some embodiments, the range of acceptable electrical and hydraulic power levels indicates the maximum and minimum power levels at which the electrical and hydraulic equipment is permitted to operate when the controller 58 receives a request signal 66. For example, the maximum and minimum power levels may be based on the ability of each device to supply or consume power, or to supply or consume power based on predetermined design limits. For example, the pump / motor 48a may have a maximum pumping power output, and therefore the maximum power output level may be limited to the maximum pumping power output. From the perspective of the battery 33, this represents a maximum power consumption limit. However, from the perspective of the hydraulic cylinders 25, 26, and 27, the accumulator 54, and the pump / motor 52, this represents a maximum power supply limit. Alternatively, the maximum pumping power output of the pump / motor 48a may be limited based on predetermined design limits, for example, to avoid excessive wear on the pump / motor 48a and / or other parts of machine 2.

[0041] The minimum power level of the range signal 68 may relate to a predetermined lower limit of the acceptable power output. For example, for pumps / motors 48a and 48b, the lower limit, for example, is related to the minimum power output to provide the hydraulic cylinders 25, 26, and 27 with sufficient hydraulic power to hold the load of the instrument 14 at its current height.

[0042] The battery 33, or different interchangeable power sources such as an internal combustion engine, fuel cell, or wired cable system, may also provide operating signals 72 related to the operation of the specific power source used on the machine 2 via their associated sensors 33a. For example, the battery sensor 33a may provide a signal indicating the state of the battery 33 (e.g., SOC, power output, voltage output, or current output). The battery subsystem control 62a may provide range signals 68 indicating the maximum and minimum power levels at which the battery 33 is permitted to operate, upon receiving a request signal 66 from the controller 58.

[0043] According to some embodiments, the range of acceptable electrical, hydraulic, and power output levels may provide a limit to the monitoring control 64, and as a result, the monitoring control 64 does not provide control signals 70 to electrical devices, hydraulic devices, and power sources such as batteries 33 that are outside their respective limits. Consequently, the monitoring control 64 can determine the most efficient solution for operating the power output levels of interchangeable power sources mounted on the machine and the electrical and hydraulic devices powered by the power sources (i.e., based solely on power consumption considerations), but the range may prevent unintended and undesirable consequences of the most efficient solution.

[0044] For example, upon receiving a request from the controller 58 to reduce the rotation of the cab 24, the motor / generator 46 can operate as a generator and thereby supply power to the machine 2. If the motor / generator 46 increases the reduction level of the cab 24, it will supply a larger amount of power. However, this may result in the cab 24 rotating to a stop earlier than requested, thereby resulting in undesirable control characteristics. If the motor / generator 46 decreases the reduction level of the cab 24, it will supply a smaller amount of power. However, this may result in the cab 24 rotating to a stop more slowly than requested, thereby resulting in undesirable control characteristics. The monitoring control 64 may also be configured to determine the most efficient solution for manipulating the power output levels of interchangeable power supplies mounted on the machine, the solution depending on which of several interchangeable power supplies is mounted on the machine and actually used.

[0045] When the controller 58 receives a request signal 66 to decelerate the cab 24, the electrical subsystem control 62b may determine a range of acceptable power supply levels for the motor / generator 46 during deceleration. As described above, the operation of machine 2 may not want to reduce or increase the deceleration level of the cab 24, so in these circumstances, the electrical subsystem control 62b may determine a narrow range of acceptable power supply levels. Accordingly, the electrical subsystem control 62b provides the monitoring control 64 with a request signal 66 indicating the requested operation of the motor / generator 46, and a range signal 68 indicating a narrow range of acceptable power supply levels for the motor / generator 46. The monitoring control 64 then controls the operation of the motor / generator 46 by determining the level of power supply provided by the motor / generator 46 based on the request signal 66, operation signals 72 of the battery 33 and various devices of machine 2, and the range signal 68 received from the electrical subsystem control 62b. A control signal 70 is then provided to the motor / generator 46 to control its operation. The control signal 70 may be transmitted from the monitoring control 64 to the electrical subsystem control 62b, which can then control the operation of the motor / generator 46. According to some embodiments, the control signal 70 may be transmitted directly to the motor / generator 46 without necessarily being relayed via the electrical subsystem control 62b.

[0046] In another embodiment, while the cab 24 is accelerating, the controller 58 may receive an acceleration request signal 66, and the motor / generator 46 may operate as a motor, thereby consuming power from the battery 33 or another interchangeable power source mounted on and used by the machine 2. If the motor / generator 46 increases the acceleration level of the cab 24, it will consume a larger amount of power. If the motor / generator 46 decreases the acceleration level of the cab 24, it will consume a smaller amount of power.

[0047] The electrical subsystem control 62b may determine a range of acceptable power consumption levels for the motor / generator 46 during acceleration of the cab 24. For example, it may be undesirable for the operation of machine 2 to increase the acceleration of cab 24 beyond a requested level. However, due to power limitations of battery 33 on machine 2 or other considerations, it may be desirable to reduce the acceleration level below the requested level. Thus, the electrical subsystem control 62b may provide a range of acceptable power consumption levels from a maximum value equal to the requested level to a minimum value well below the requested level. The electrical subsystem control 62b may provide the monitoring control 64 with a request signal 66 indicating the requested operation of the motor / generator 46, and a range signal 68 indicating a range of acceptable power supply levels. The monitoring control 64 may then control the operation of the motor / generator 46 in the manner described above by using the control signal 72 to determine the power level for consumption by the motor / generator 46 based, for example, on the request signal 66 and range signal 68 received from the electrical subsystem control 62a, and the operation signals 72 of battery 33 and various devices of machine 2.

[0048] The electrical subsystem control 62b may determine the operating range of the electrical storage device 42 based on the interrelationships of the operation of the electrical devices within the electrical subsystem. For example, if no electrical device is operating within the electrical subsystem, the electrical subsystem control 62b may provide the monitoring control 64 with a request signal indicating that there is no request for the electrical device, and a range signal 68 for each electrical device indicating the capacity of the electrical device, including the electrical storage device 42, and may supply power to the battery 33 and / or hydraulic subsystems by supplementing power to the battery 33 for the operation of one or more pumps / motors 48a and 48b.

[0049] However, for example, if a request signal 66 is received (via the motor / generator 46) for the rotation of the cab 24, the electrical subsystem control 62b may provide the monitoring control 64 with the request signal 66 for each of the electrical devices, including the electrical storage device 42. Furthermore, the electrical subsystem control 62b may provide a range signal 68 for each of the electrical devices. For example, the request signal 66 for the operation of the motor / generator 46 for the rotation of the cab 24 may request 50 units of power. The electrical subsystem control 62b may determine that the motor / generator 34, driven by the battery 33, has the capacity to supply 40 units of power to the motor / generator 46 for the rotation of the cab 24, and that the electrical storage device 42 has the capacity to supply 40 units of power to the motor / generator 46 for the rotation of the cab 24. Thus, the motor / generator 34 and the electrical storage device 42 may have a combined capacity of more than 30 units to meet the requested rotation of the cab 24. The electrical subsystem control 62b may determine range signals 66 for the motor / generator 34 and the electric storage device 42, respectively, indicating a power output range of 0 to 40 units, and a request signal 66 of 50 units for the motor / generator 46 for the rotation of the cab 24. The electrical subsystem control 62b may also determine the range signal for the motor / generator 46, as previously stated herein. Furthermore, the electrical subsystem control 62b may determine the request signals 66 for the motor / generator 34 and the electric storage device 42, respectively, to provide the motor / generator 46 with 50 units of power. For example, the electrical subsystem control 62b may determine that the request signal 66 for the motor / generator 34 is 40 units of power and the request signal for the electric storage device 42 is 10 units of power, thereby corresponding to the 50 units of power required for the operation of the motor / generator 46 to rotate the cab 24. The request signals 66 and range signals 68 may be supplied to the monitoring control 64.

[0050] In this example, the monitoring control 64 uses request and range signals 66 and 68 from the electrical subsystem control 62b, as well as similar signals from the engine subsystem control 62a and the hydraulic subsystem control 62c, to determine the control signals 70 for controlling the operation of the battery 33 and the electrical and hydraulic systems of machine 2. For example, if no power is needed to replenish the battery 33 or the hydraulic system, the monitoring control 64 supplies the control signal 70 to the electrical subsystem control 62b, so that the motor / generator 34 supplies, for example, 40 units of power to the motor / generator 46, and the electrical storage device 42 supplies 10 units of power to the motor / generator 46, thereby meeting the requested 50 units to turn the cab 24.

[0051] However, if the monitoring and control system 64 determines that the hydraulic subsystem benefits from the power supplied by the electrical subsystem, for example, if the hydraulic subsystem cannot supply enough hydraulic power to satisfy the requested operation command of the hydraulic subsystem because, for example, the capacity of the battery 33 is limited and / or the accumulator 54 cannot offset the limited capacity of the battery 33, the monitoring and control system 64 may determine that the electrical subsystem will supply power to supplement the operation of the battery 33, for example, by 20 units of power, thereby increasing the capacity of the hydraulic subsystem. Since the output of the pumps / motors 48a and 48b may be limited by the instantaneous battery output capacity, supplementing the operation of the battery 33 with the electrical subsystem may allow for an increase in the hydraulic power that the pumps / motors 48a and 48b can supply. Therefore, to meet the power demand of 20 units for replenishing battery 33 and the power demand of 50 units for turning cab 24, 70 units of power may be supplied from the combined available power of 80 units from motor / generator 34 and electric storage device 42, resulting in 50 units supplied to turn cab 24 and 20 units supplied to the hydraulic subsystem via the power supplied to battery 33.

[0052] Similarly, the hydraulic subsystem control 62c may determine the operating range of the accumulator 54 based on the interrelationships of the operations of the hydraulic devices within the hydraulic subsystem. For example, if no hydraulic devices are operating within the hydraulic subsystem, the hydraulic subsystem control 62c may provide the monitoring control 64 with a request signal indicating that there is no request for the hydraulic devices, and a range signal 68 for each of the hydraulic devices indicating the capability of the hydraulic devices, including the accumulator 54, and may supply power to the battery 33 and / or the electrical subsystem by supplementing power to the battery 33 for the operation of the motor / generator 34 of the electrical subsystem.

[0053] However, for example, when receiving a request signal 66 for moving machine 2 (via the pump / motor 52 and the ground engagement member 4), the hydraulic subsystem control 62c may provide a request signal 66 to each of the hydraulic devices, including the accumulator 54, to the monitoring control 64. Furthermore, the hydraulic subsystem control 62c may provide a range signal 68 to each of the hydraulic devices. For example, a request signal 66 for the operation of the pump / motor 52 for moving machine 2 may request 60 units of power. The hydraulic subsystem control 62c may determine that the pumps / motors 48a and 48b, driven by the battery 33, have the capacity to supply 50 units of hydraulic power to the motor / generator 46 to move machine 2, and that the accumulator 54 has the capacity to supply 30 units of hydraulic power to the pump / motor 52 to move machine 2. (According to some embodiments, hydraulic cylinders 25, 26, and / or 27 may be used to supply hydraulic power to the pump / motor 52, as previously described herein.) Thus, the pumps / motors 48a and 48b and the accumulator 54 may have a combined capacity of more than 20 units to meet the requested movement of the machine 2. The hydraulic subsystem control 62c may determine range signals 66 for the pumps / motors 48a and 48b and the accumulator 54, respectively, indicating a power output range of 0 to 50 units for the pumps / motors 48a and 48b and 0 to 30 units for the accumulator 54, and a request signal 66 of 60 units for the pump / motor 52 for the movement of the machine 2. The hydraulic subsystem control 62c may also determine the range signal for the pump / motor 52, as previously described herein. Furthermore, the hydraulic subsystem control 62c can determine request signals 66 for the pumps / motors 48a and 48b and the accumulator 54, respectively, and supply power to the pumps / motors 52 for 60 units.For example, the hydraulic subsystem control 62c may determine that the request signals 66 for pumps / motors 48a and 48b total 50 units of power, and the request signals 66 for accumulators 54 (and / or hydraulic actuators 24, 26, and / or 27) total 10 units of power, thereby corresponding to 60 units of hydraulic power required for the operation of pumps / motors 52 to move machine 2. The request signals 66 and range signals 68 are supplied to the monitoring control 64.

[0054] In this example, the monitoring control 64 can use request and range signals 66 and 68 from the hydraulic subsystem control 62c, as well as similar signals from the engine subsystem control 62a and the electrical subsystem control 62b, to determine control signals for controlling the operation of the battery 33 or another replaceable power source mounted on the machine 2 and the electrical and hydraulic equipment of the machine 2. For example, if hydraulic power is not needed to replenish the battery 33 or the electrical subsystem, the monitoring control 64 supplies a control signal 70 to the hydraulic subsystem control 62c, so that the pumps / motors 48a and 48b supply, for example, 50 units of power to the pumps / motors 52, and the accumulator 54 supplies 10 units of power to the pumps / motors 52, thereby meeting the 60 units requested to move the machine 2.

[0055] However, if the monitoring and control system 64 determines that the electrical subsystem benefits from the power supplied by the hydraulic subsystem, for example, if the electrical subsystem cannot alone supply enough power to fulfill the requested operation commands of the electrical subsystem, the monitoring and control system 64 may determine that the hydraulic subsystem can supply power to supplement the operation of the battery 33, for example, by 20 units of power. Thus, to meet the power demand of 20 units for replenishing the battery 33 and the power demand of 60 units for the movement request of the machine 2, 80 units of power may be supplied from the combined available power of 80 units from the pumps / motors 48a and 48b and the accumulator 54, resulting in 60 units being supplied to move the machine 2 and 20 units being supplied to the electrical subsystem via the power supplied to the battery 33.

[0056] Machines according to various exemplary embodiments of this disclosure may be adapted to operation powered by one of a plurality of interchangeable power sources. In an exemplary embodiment of an excavator 2 as shown in Figure 1, the machine may include a lower travel body configured to support a ground engagement member 4 that propels the machine. A superstructure 6 may be rotatably supported on the lower travel body. The superstructure may include a slewing frame 22, which may be configured to support an operator's cab 24, one of a plurality of interchangeable power sources, hydraulic components, and electrical components. As shown in Figures 1 and 4-9, counterweights 126, 226 may be located at the first end of the slewing frame 22. In exemplary embodiments of this disclosure, the counterweight 226 may include a hollow portion 222 facing the slewing frame 22. As shown by the circular portion in the enlarged view of Figure 8, the central core portion 310 of the slewing frame 22 may be centrally aligned with the hollow portion 222 of the counterweight 226. The central core portion 310 may be configured to support one of a plurality of interchangeable power sources. In some exemplary embodiments, for example, when a fuel cell is used, the central core 310 may be configured to support a hydrogen fuel tank for storing hydrogen for use as fuel by the fuel cell. References to “power source” throughout this application and in the claims encompass these hydrogen fuel tanks as well as other alternative power sources such as batteries or internal combustion engines. As shown in the exemplary embodiments of Figures 4 and 5, the battery pack 240 of the exemplary machine 200 may be a replaceable power source mounted on the slewing frame 22, with a portion of the battery pack 240 partially housed in a hollow portion 222 of a counterweight 226, and the remaining portion of the battery pack 240 housed in a power source including a chamber 228 on the slewing frame 22.

[0057] As shown in Figure 4, the power supply, including the chamber 228, may be located on the rear and lateral sides of the operator cab 224 as part of the slewing frame 22. The power system ECM 262 and main machine ECM 266, along with the inverter, one or more electric motors / generators, an electric storage device, and one or more hydraulic pumps or other hydraulic components, may be located laterally on one side of the operator cab 224 on the slewing frame 22. Various electrical and hydraulic components may be located on the ladder side skirts 312, 314 toward the outer periphery of the ladder side skirts to maximize the available space of the central core 310 and the interchangeable power supplies that can be provided on the slewing frame. The central core 310 may also be lowered relative to the ladder side skirts to lower the center of gravity of the power supplies mounted on the central core. In some exemplary embodiments, one or more of the hydraulic pumps provided on the ladder side skirts may be mounted on an electric motor / generator and may be longitudinally positioned along one or both outer peripheral portions of the ladder side skirts to maximize the size of the open space on the central core portion 310 for mounting a replaceable power supply.

[0058] If any of the interchangeable power sources is to be mounted on and used on machine 2, the power source may be at least partially housed within the hollow portion 222 of the counterweight 226. As described above, in the case of a fuel cell, a tank configured to store hydrogen as fuel for the fuel cell may be mounted at the rear of the central core 310 and partially housed within the hollow portion 222 of the counterweight 226. This configuration allows and facilitates the placement of interchangeable power sources, such as a battery 33, an internal combustion engine, a fuel cell (or a fuel tank containing the fuel used by the fuel cell), or a wired cable system on the slewing frame 22, in a position that minimizes the overall size and weight of the machine, thereby improving fuel economy. As best seen in Figures 6-8, the slewing frame 22 may consist of a central core 310 located on the lateral side, opposed by ladder side skirts 312, 314. Each of the ladder side skirts 312, 314 may include a plurality of parallel cross members 322. The central core 310 may include parallel, longitudinally positioned vertical reinforcing ribs 332, 334, each having mounting bosses 333, 335, on opposing lateral sides of the central core 310. The left-hand view of Figure 7 shows an internal combustion engine 500 mounted on the slewing frame, along with associated cooling system components, exhaust treatment components, etc. The right-hand view of Figure 7 shows a modified slewing frame according to an exemplary embodiment of the present disclosure, with the internal combustion engine and associated components removed, a hollow counterweight 226 positioned at the rear end of the slewing frame, and the modified slewing frame configured to mount a replaceable power source, such as a battery pack. As best seen in the enlarged view of Figure 8, a number of vibration isolation mounting pads 352 may be positioned on the central core 310 of the slewing frame adjacent to the hollow portion 222 of the counterweight 226. The vibration isolation mounting pads 352 may be configured to mount a replaceable power source, such as the battery pack 240 in Figure 4, and to isolate the battery pack 240 from accelerations and forces that may occur during the operation of the machine.

[0059] The slewing frame 22 may include ladder side skirts 312, 314 on each of the opposing lateral sides of the central core 310, and the central core 310 of the slewing frame 22 may extend below each of the ladder side skirts to lower the center of gravity of one power supply mounted to the central core 310 of the slewing frame 22. Multiple vibration isolation mounting pads 352 may be positioned on the central core 310 of the slewing frame 22 adjacent to the hollow portion 222 of the counterweight 226. In various exemplary embodiments of the present disclosure, the hollow portion 222 of the counterweight 226 may extend on both sides of the central core 310 of the slewing frame 22. The slewing frame 22 may be configured to support any one of a plurality of interchangeable power supplies, and the ladder side skirts may be configured to support hydraulic and electrical components on portions of the ladder side skirts spaced apart from the central core, increasing the amount of space available for mounting any one of the plurality of interchangeable power supplies to the central core 310. As described above, for example, as shown in Figure 8, the central core 310 may include parallel, longitudinally arranged vertical reinforcing ribs 332, 334 on opposing lateral sides of the central core 310, and a vibration isolation mounting pad 352 configured to house a power supply and isolate the power supply from vibrations that may occur during the operation of the machine.

[0060] The electrical components mounted on the outer peripheral portion of the ladder side skirt on the lateral side of the central core 310 may include a cooling system 342 comprising multiple fans and an electric motor driven by a power supply, and the hydraulic components may include a pump 362 mounted to the electric motor with a coupling interposed between the pump and the electric motor. The coupling allows the hydraulic pump to be mounted directly to the electric motor, thereby enabling a compact arrangement of the various electrical and hydraulic components on the ladder side skirt and maximizing the available space on the central core 310 for mounting one of the interchangeable power supplies.

[0061] The exemplary systems and methods described above include combinations of electric and hydraulic devices, as well as combinations of electric and hydraulic storage devices. It is intended that the systems and methods described herein do not necessarily have to include both electric and hydraulic devices, or both electric and hydraulic storage devices. For example, the systems and methods may be used in machines having an electric device and an electric storage device, or a combination of an electric device, an electric storage device, and a non-hydraulic device (e.g., a non-hydraulic storage device such as a flywheel, or a mechanical storage device). Alternatively, the systems and methods may be used in machines having a hydraulic device and a hydraulic storage device, or a combination of a hydraulic device, a hydraulic storage device, and a non-electric device (e.g., a non-electric storage device such as a non-electric mechanical storage device such as a flywheel). [Industrial applicability]

[0062] Exemplary machines and machine control systems according to various embodiments of this disclosure may be used to perform work. In particular, the exemplary machine 2 shown in Figure 1 is an excavator for performing operations such as mining and / or loading material. Although the exemplary systems and methods disclosed herein are described in relation to excavators, the disclosed systems and methods have applications in other machines such as automobiles, trucks, agricultural vehicles, work vehicles, wheel loaders, bulldozers, loaders, truck-type tractors, graders, off-highway trucks, or any other machines known to those skilled in the art.

[0063] As described above, the exemplary power system 15 for a machine may be used to control the power within the machine, having both electrical and hydraulic devices that can act as either power supply or power consumption devices. In particular, the exemplary power system 15 may control the power supply and consumption of the electrical and hydraulic devices in a manner that improves the efficiency of the machine while maintaining the desired control characteristics of the machine. The electrical and hydraulic devices may include electrical and hydraulic storage devices, as well as electrical and hydraulic actuators such as, for example, electric motors, generators, electric motor / generators, hydraulic pumps, hydraulic motors, hydraulic pump / motors, and hydraulic cylinders.

[0064] An exemplary power system 15 may be configured to control the operation of one of several interchangeable power supplies mounted on the machine, such as the excavator 2 in Figure 1. As discussed above, the exemplary excavator 2 may include a lower travel body configured to support a ground engagement member 4 that propels the excavator. The superstructure 6 may be rotatably supported on the lower travel body. The superstructure 6 may include a slewing frame 22, which may be configured to support an operator's cab 24, one of several interchangeable power supplies, hydraulic components, electrical components, and one or more electronic control modules (ECMs) configured to control all of the various components. The power system 15 may include a controller 58. The machine control system activated and embodied by the controller 58 may include one or more processors configured to receive variables, control parameters, and standards related to the operation of each of the several interchangeable power supplies from one or more sensors, input devices, output devices, and memory, which are communicably coupled to one or more processors. One or more processors may sense and process the output and operating characteristics specific to each of the power supplies by utilizing one or more of the following: control logic, machine motion inputs and outputs, sensed and processed signals related to the machine's position, movement, and operation, as well as stored, sensed, and / or processed data, variables, control parameters, and standards. One or more processors may also standardize the power output from each of the power supplies to provide normalized, consistent control and operation of the machine's system, regardless of which of the power supplies is mounted on the machine.

[0065] In various exemplary embodiments of this disclosure, one or more processors of a mechanical control system enabled and embodied by a controller 58 of the power system 15 may be included in a power system electronic control module (ECM). The power system ECM may be configured to interface with at least one of a main mechanical ECM, an electrical system ECM, and a hydraulic system ECM. The electrical system ECM may be configured to control the operation of one or more electrical components, including at least one of an electric motor, an inverter, an insulated-gate bipolar transistor (IGBT), and a capacitor. The hydraulic system ECM may be configured to control the operation of one or more hydraulic components, including at least one of a pump, a motor, and a valve.

[0066] Power Systems (ECMs) in various exemplary embodiments of this disclosure may be configured to sense and determine which of several potential interchangeable power sources is currently installed in and operating the machine. As described above, the interchangeable power sources may include an internal combustion engine, a battery, a fuel cell, and a wired cable system configured to receive power from an external source. One or more stored, sensed, and / or processed data, variables, control parameters, and standards related to the operation of each of the interchangeable power sources may be retrieved by one or more processors from one or more quick reference tables or maps stored in memory associated with the processors. One or more processors may also be configured to determine a control strategy for controlling the machine's systems based on a standardized power output from a particular interchangeable power source currently installed in and operating on the machine. By making the machine and associated software and hardware reconfigurable depending on which of the interchangeable power sources is installed in the machine, machine production logistics of the machine in various embodiments of this disclosure may enable the shipment of the machine with an unknown power source to the customer. The customer may then locally source a specific power source configured to meet their specific operational requirements. The ability to reconfigure the machine to operate with different, interchangeable power sources allows for machine reconfiguration later in the machine configuration and manufacturing process, thereby enabling the creation of more flexible and cost-effective solutions tailored to each customer's needs and specific requirements.

[0067] Machines according to various exemplary embodiments of this disclosure may also include a variable machine display adapted to operation powered by one of a plurality of interchangeable power supplies. The machine may include a power system electronic control module configured to receive variables, control parameters, and standards related to the operation of each of the plurality of interchangeable power supplies from one or more sensors, input devices, output devices, and memory communicably coupled to the power system electronic control module. The power system electronic control module may sense and process output and operating characteristics specific to each of the plurality of power supplies by utilizing control logic, machine operation inputs and outputs, sensed and processed signals related to the machine's position, movement, and operation, as well as stored, sensed, and / or processed data, variables, control parameters, and standards. The power system electronic control module may standardize the power output from each of the plurality of power supplies to provide normalized, consistent control and operation of the machine's system, regardless of which of the plurality of interchangeable power supplies is mounted on the machine.

[0068] A variable machine display for a machine may include an associated display controller that is communicatively coupled to a power system electronic control module. The display controller may be configured to receive one or more signals indicating a standardized power output generated by the power system electronic control module and to display one or more pieces of information, icons, and an overall appearance that are modified based on one of a plurality of interchangeable power sources attached to and supplying power to the machine. In one exemplary embodiment, the display controller may display the remaining battery power or other battery-related parameters when one of the plurality of interchangeable power sources is a battery. In an alternative exemplary embodiment, the display controller may display the amount of remaining fuel or other operating characteristics of the power source when one of the plurality of interchangeable power sources is one of an internal combustion engine or a fuel cell. In yet another exemplary embodiment, the display controller may display the real-time power the machine receives from an external power source when one of the plurality of interchangeable power sources is a wired cable system configured to connect the machine to an external power source.

[0069] It will be apparent to those skilled in the art that various modifications and variations can be made to the exemplary systems, methods, and machines disclosed herein. Other embodiments will also be apparent to those skilled in the art by considering the embodiments disclosed herein and in this report. This specification and the examples are intended to be merely illustrative, having the true scope set forth by the following claims and their equivalents.

Claims

1. A machine (2) adapted for operation powered by one of several interchangeable power sources (33), A lower traveling body configured to support a ground engagement member (4) that propels the machine, A superstructure (6) rotatably supported on the lower traveling body, wherein the superstructure includes a slewing frame (22), the slewing frame (22) includes an operator's cab (24), one of the plurality of interchangeable power supplies, and a power system (15) including hydraulic and electrical components, the power system being configured to support the power system which controls the hydraulic and electrical components according to a control strategy including subsystem control (62) configured to provide signals relating to the operation of the hydraulic and electrical components, A counterweight (126, 226) positioned at the first end of the slewing frame and including a hollow portion (222) facing the slewing frame, wherein the hollow portion is centrally aligned with a central core portion (310) of the slewing frame, which is configured to support one of the plurality of interchangeable power supplies, with the one power supply being partially housed within the hollow portion (222) of the counterweight (226), and the central core portion (310) includes longitudinally arranged vertical ribs (332, 334) parallel to the opposing lateral sides of the central core portion (310), and a plurality of vibration isolation mounting pads (352) configured to mount the one power supply, Includes, The signals related to the operation of the hydraulic and electrical components include a request signal indicating the requested operation of the hydraulic and electrical components, and a range signal indicating the acceptable range of hydraulic and electrical power levels related to the operation of the hydraulic and electrical components. The control strategy is a control that determines a control signal based on the request signal and the range signal to control the hydraulic component and the electrical component, further comprising a control that includes a signal to cause one of the hydraulic component and the electrical component to supply power to supplement the operation if the hydraulic component cannot supply enough hydraulic power to satisfy the operation command, or if the electrical component cannot supply enough power to satisfy the operation command. Machine (2).

2. The machine (2) according to claim 1, wherein the slewing frame (22) further includes ladder side skirts (312, 314) on each of the opposing lateral sides of the central core portion (310).

3. The machine (2) according to claim 1, wherein the slewing frame (22) further includes ladder side skirts (312, 314) on each of the opposing lateral sides of the central core portion (310), and the central core portion (310) of the slewing frame (22) extends below each of the ladder side skirts, thereby lowering the center of gravity of the one power supply mounted on the central core portion of the slewing frame.

4. The machine (2) according to claim 1, wherein a plurality of vibration isolation mounting pads (352) are arranged on the central core portion (310) of the slewing frame (22) adjacent to the hollow portion of the counterweight.

5. The machine (2) according to claim 1, wherein the hollow portion (222) of the counterweight (226) extends on both sides of the central core portion (310) of the slewing frame (22).

6. The machine according to claim 1, wherein the slewing frame further includes ladder side skirts on each of the opposing lateral sides of the central core, the slewing frame is configured to support one of the plurality of interchangeable power supplies, and the ladder side skirts are configured to support the hydraulic and electrical components on portions of the ladder side skirts spaced apart from the central core, thereby increasing the amount of space available for mounting the one power supply on the central core.

7. The machine according to claim 6, wherein the central core portion includes vertical ribs arranged longitudinally parallel to opposing lateral sides of the central core portion, and a plurality of vibration isolation mounting pads configured to mount the single power supply.

8. The machine according to claim 7, wherein the electrical component includes an electric motor driven by the one power source, and the hydraulic component includes a pump attached to the electric motor such that a coupling is interposed between the pump and the electric motor, and the pump and the electric motor are longitudinally mounted on one of the ladder side skirts on the opposing side of the central core from the operator cab mounted on the other ladder side skirt.

9. A machine adapted to operation powered by a battery, A lower traveling body configured to support a ground engagement member that propels the machine, A superstructure rotatably supported on the lower traveling body, wherein the superstructure includes a slewing frame, the slewing frame includes an operator's cab, the battery, and a power system including hydraulic and electrical components, the power system being configured to support a power system that controls the hydraulic and electrical components according to a control strategy including subsystem control configured to provide signals related to the operation of the hydraulic and electrical components, A counterweight positioned at the first end of the slewing frame, the counterweight includes a hollow portion facing the slewing frame, the hollow portion being centrally aligned with a central core portion of the slewing frame configured to support the battery, the central core portion including longitudinally positioned vertical ribs parallel to opposing lateral sides of the central core portion, and a plurality of vibration isolation mounting pads configured to mount the battery, The signals related to the operation of the hydraulic and electrical components include a request signal indicating the requested operation of the hydraulic and electrical components, and a range signal indicating the acceptable range of hydraulic and electrical power levels related to the operation of the hydraulic and electrical components. The control strategy is a control that determines a control signal based on the request signal and the range signal to control the hydraulic component and the electrical component, further comprising a control that includes a signal to cause one of the hydraulic component and the electrical component to supply power to supplement the operation if the hydraulic component cannot supply enough hydraulic power to satisfy the operation command, or if the electrical component cannot supply enough power to satisfy the operation command. machine.

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