CN114032990A

CN114032990A - Construction machine

Info

Publication number: CN114032990A
Application number: CN202010741653.0A
Authority: CN
Inventors: 易琅琳
Original assignee: Sichuan Dinghong Zhidian Equipment Technology Co ltd
Current assignee: Sichuan Dinghong Zhidian Equipment Technology Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2022-02-11
Also published as: WO2022022583A1

Abstract

The application discloses engineering machinery, which comprises a running device, a working device, a power device and a first control device, wherein the running device comprises a frame, and wheels and a driving mechanism connected with the wheels are arranged on the frame; the working device comprises a working module connected with the frame and an electric cylinder assembly connected with the working module and driving the working module to move; the power device comprises a generator set and an electric storage device, and the generator set is electrically connected with the electric storage device and supplies power to the electric storage device; the power generating set is electrically connected with the driving mechanism and the electric cylinder assembly, and the power storage device is electrically connected with the driving mechanism and the electric cylinder assembly; the first control device is arranged on the frame and electrically connected with the driving mechanism, the electric cylinder assembly, the generator set and the electric storage device, and the first control device is used for controlling at least one of the generator set and the electric storage device to supply power to the driving mechanism and the electric cylinder assembly. The application improves the structure of the engineering machinery, and improves the energy-saving and emission-reducing effects of the engineering machinery.

Description

Construction machine

Technical Field

The application relates to the technical field of engineering machinery, in particular to engineering machinery.

Background

Engineering machinery generally comprises a loader, an excavator, a bulldozer and the like, and is widely applied to various fields such as urban construction, mine exploitation, disaster rescue, national defense industry and the like. The existing engineering machinery generally adopts a diesel engine as power to drive a hydraulic driving system and a transmission system of the engineering machinery so as to move and work the engineering machinery, and the engineering machinery not only has higher energy consumption under normal working conditions, but also can cause environmental pollution by discharged tail gas.

Disclosure of Invention

The embodiment of the application provides an engineering machine, aims at solving the problems that the energy consumption of the existing engineering machine is high, and the discharged tail gas can cause pollution to the environment, and realizes energy conservation and emission reduction of the engineering machine.

An embodiment of the present application provides an engineering machine, the engineering machine includes:

the running device comprises a frame, wherein wheels and a driving mechanism connected with the wheels are arranged on the frame;

the working device comprises a working module connected with the frame and an electric cylinder assembly connected with the working module and driving the working module to move;

the power device is arranged on the frame and comprises a generator set and an electric storage device, and the generator set is electrically connected with the electric storage device and supplies power to the electric storage device; the generator set is electrically connected with the driving mechanism and the electric cylinder electric assembly, and the power storage device is electrically connected with the driving mechanism and the electric cylinder assembly;

the first control device is arranged on the frame, electrically connected with the driving mechanism, the electric cylinder assembly, the generator set and the electric storage device and used for controlling at least one of the generator set and the electric storage device to supply power to the driving mechanism and the electric cylinder assembly.

In some embodiments, the power generation unit includes an lng engine, and a generator coupled to an output of the lng engine.

In some embodiments, the first control means is configured to control the generator set to charge the electrical storage device when the output power of the generator set is larger than the load power of the drive mechanism and the electric cylinder assembly.

In some embodiments, the first control means is configured to control the electrical storage means to supply power to the drive mechanism and the electric cylinder assembly when the output power of the generator set is smaller than the load power of the drive mechanism and the electric cylinder assembly.

In some embodiments, a plurality of wheels are disposed on the frame, the driving mechanism includes a plurality of first driving motors disposed on the frame, and a second control device electrically connected to the plurality of first driving motors, and the plurality of first driving motors are equal in number to the plurality of wheels and are connected in a one-to-one correspondence.

In some embodiments, the second control device is electrically connected to the generator set, the electrical storage device and the first control device, and the construction machine further includes a first detection device electrically connected to the second control device, the first detection device being configured to detect an operation state of the first driving motor and output a corresponding first state signal;

the second control device is used for receiving the first state signal and a first control signal output by the first control device, and controlling the power supply amount provided by at least one of the generator set and the storage device to the first driving motor according to the first state signal and the first control signal.

In some embodiments, the work module comprises a bucket, a tilt arm, and a lift arm, the electric cylinder assembly comprises a first electric cylinder and a second electric cylinder, one end of the tilt arm is hinged to the bucket, and the other end is hinged to the first electric cylinder; one end of the lifting arm is hinged to the bucket, and the other end of the lifting arm is hinged to the frame;

the first electric cylinder comprises a first ball screw pair and a second driving motor, one end of the first ball screw pair is hinged to the frame, the other end of the first ball screw pair is connected with one end, far away from the bucket, of the turnover arm, and the second driving motor is connected with the first ball screw pair and drives the first ball screw pair to operate;

the second electric cylinder comprises a second ball screw pair and a third driving motor, one end of the second ball screw pair is hinged to the frame, the other end of the second ball screw pair is connected with the middle part of the lifting arm, and the third driving motor is connected with the second ball screw pair and drives the second ball screw pair to operate.

In some embodiments, the electric cylinder assembly further includes a third control device electrically connected to the first control device, and a second detection device electrically connected to the third control device, the third control device being electrically connected to the generator set, the electrical storage device, the second drive motor, and the third drive motor, the second detection device being configured to detect an operation state of the second drive motor and the third drive motor, and output a corresponding second state signal;

the third control device is configured to receive the second state signal and a second control signal output by the first control device, and control an amount of power supplied to the first electric cylinder and the second electric cylinder by at least one of the generator set and the electrical storage device according to the second state signal and the second control signal.

In some embodiments, the construction machine comprises a fourth control device electrically connected with the driving mechanism, the electric cylinder assembly and the first control device, and an environment detection device, a navigation positioning device and a state detection device electrically connected with the fourth control device;

the environment detection device is used for acquiring environment information of the engineering machinery and transmitting the environment information to the fourth control device, and the fourth control device determines the environment around the engineering machinery according to the environment information;

the navigation positioning device is used for detecting the position information of the engineering machinery and transmitting the position information to the fourth control device, and the fourth control device determines the position of the engineering machinery according to the position information;

the state detection device is used for detecting state information of the driving mechanism and the electric cylinder assembly and transmitting the state information to the fourth control device, and the fourth control device determines the running states of the driving mechanism and the electric cylinder assembly according to the state information;

the fourth control device is configured to receive a work instruction, and output a corresponding third control signal to the first control device according to the work instruction, an environment around the construction machine, a position of the construction machine, and operation states of the driving mechanism and the electric cylinder assembly, so that the first control device controls at least one of the generator set and the storage device to supply power to the driving mechanism and the electric cylinder assembly.

In some embodiments, the construction machine further comprises a remote control device, the remote control device comprises a VR integrated device and a control device, the control device is electrically connected with the VR integrated device, the control device is wirelessly connected with the fourth control device, and the fourth control device transmits the environment around the construction machine, the position of the construction machine and the operation states of the driving mechanism and the electric cylinder assembly to the VR integrated device through the control device and displays the operation states in the VR integrated device; the control device is further configured to receive the job instruction output by the VR integrated device, and transmit the job instruction to the fourth control apparatus.

The application provides an engineering machine tool is through making power device include generating set and power storage device, when the electric energy that generating set produced is greater than the electric energy of electric jar and actuating mechanism consumption, can be with unnecessary electric energy storage in power storage device, the electric energy of when power storage device storage is more, perhaps when electric jar and actuating mechanism need the electric energy great, can be by the power storage device of first control device control to electric jar subassembly and actuating mechanism power supply, thereby improve power device's energy utilization, reduce power device's energy consumption, reduce the tail gas volume that engineering machine tool discharged, realize engineering machine tool's energy saving and emission reduction.

Drawings

The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of an embodiment of a work machine provided in an embodiment of the present disclosure;

FIG. 2 is a side view of the work machine of FIG. 1;

FIG. 3 is a schematic structural diagram of an embodiment of a working device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an embodiment of an electric cylinder provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a first ball screw pair provided in the embodiment of the present application;

FIG. 6 is a schematic structural diagram of an embodiment of an intelligent system provided by an embodiment of the present application;

fig. 7 is a diagram illustrating a circuit connection and a mechanical connection relationship between components of a construction machine according to an embodiment of the present application.

A construction machine 100; a work machine body 110; a traveling device 111; a frame 1111; a wheel 1112; the support device 1113; a pan/tilt head 1114; a first frame 1115; a second frame 1116; a working device 112; a working module 113; a lifting arm 1131; a flip arm 1132; a bucket 1133; a connecting portion 1134; a link 1135; an electric cylinder assembly 114; a first electric cylinder 1141; a second electric cylinder 1142; a first ball screw assembly 1143; a screw bar 1144; an end cap 1145; a nut 1146; a ball 1147; a second drive motor 1148; a second ball screw assembly 1149; a third drive motor 1150; a second encoder 1151; a fourth drive motor 1152; a first drive motor 1153; a first control device 116; the second control device 117; a power distribution device 118; a third control device 119; an intelligent system 120; the fourth control device 121; an environment detection device 122; a second ultrasonic radar 1223; a camera 1224; a millimeter wave radar 1225; a first ultrasonic radar 1226; a navigation positioning device 123; a satellite navigation component 1231; an inertial navigation component 1232; a state detection device 124; a fifth control device 125; a power plant 126.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The embodiment of the application provides an engineering machine, which comprises an engineering machine body, and a power device and a first control device which are arranged on the engineering machine body, wherein the first control device is used for controlling the power device to provide electric energy for each driving part of the engineering machine body so as to enable each driving part to drive a corresponding mechanism to move. The construction machine body, the power unit, and the first control unit of the construction machine will be described in detail below.

As shown in fig. 1, 2 and 7, the construction machine body 110 may include a traveling device 111 and a working device 112, the traveling device 111 includes a frame 1111, the frame 1111 is provided with wheels 1112 and a driving mechanism (not shown) connected to the wheels 1112, and the working device 112 includes a working module 113 connected to the frame 1111 and an electric cylinder assembly 114 connected to the working module 113 and driving the working module 113 to move.

The power device 126 and the first control device 116 are both arranged on the frame 1111 of the traveling device 111, the power device 126 comprises a generator set and an electric storage device, and the generator set is connected with the electric storage device and supplies power to the electric storage device; the generator set is electrically connected with the driving mechanism and the electric cylinder assembly 114, the electric storage device is also electrically connected with the driving mechanism and the electric cylinder assembly 114, the first control device 116 is electrically connected with the driving mechanism, the electric cylinder assembly 114, the generator set and the electric storage device, and the first control device 116 is used for controlling at least one of the generator set and the electric storage device to supply power to the driving mechanism and the electric cylinder assembly 114.

The application provides an engineering machine 100 is through making power device 126 include generating set and power storage device, when the electric energy that generating set produced is greater than the electric energy that electronic jar subassembly 114 and actuating mechanism consumed, can be with unnecessary electric energy storage in power storage device, when the electric energy that power storage device stored is more, or when the electric energy that electronic jar and actuating mechanism need is great, can be controlled power storage device by first controlling means 116 and supply power to electronic jar subassembly 114 and actuating mechanism, thereby improve power device 126's energy utilization, reduce power device 126's energy consumption, reduce the tail gas volume that engineering machine 100 discharged, realize engineering machine 100's energy saving and emission reduction.

In some embodiments, the vehicle frame 1111 may be provided with a plurality of wheels 1112, the driving mechanism may include a plurality of first driving motors 1153 provided on the vehicle frame 1111, and a second control device 117 electrically connected to the plurality of first driving motors 1153, the first driving motors 1153 are provided in equal number with the wheels 1112, and are connected in a one-to-one correspondence, when the first control means 116 controls at least one of the generator set and the electrical storage device to supply power to the drive mechanism, the second control means 117 can achieve precise control of the number of rotations, rotational speed and rotational acceleration of each first drive motor 1153 by controlling the amount of power supplied from the power unit 126 to each first drive motor 1153, thereby achieving precise control of the number of revolutions, the rotational speed and the rotational acceleration of each wheel 1112, thereby realizing accurate control of the travel distance, the travel speed, and the travel acceleration of the travel device 111. The power supply amount may include a power supply voltage, a power supply current, a power supply time period, and the like.

Specifically, the second control device 117 is electrically connected to the first control device 116 and the generator set and the power storage device of the power device 126, and when the first control device 116 outputs a first control signal for controlling the traveling of the traveling device 111, the second control device 117 receives the first control signal and controls the amount of electric power supplied from the power device 126 to each of the first drive motors 1153 based on the first control signal, thereby realizing accurate control of the traveling distance, the traveling speed, and the traveling acceleration of the traveling device 111. The second control device 117 may be directly electrically connected to the generator set and the power storage device of the power unit 126, or may be indirectly electrically connected to the generator set and the power storage device of the power unit 126 through the first control device 116.

The number of the wheels 1112 of the running gear 111 is 4, the number of the first driving motors 1153 is 4, and the 4 first driving motors 1153 are correspondingly connected with the 4 wheels 1112 through 4 speed reducers, the second control device 117 is connected with the 4 first driving motors 1153, the number of the rotation turns and the rotation speed of the wheels 1112 can be controlled by controlling the number of the rotation turns, the rotation speed and the rotation acceleration of the rotating shafts of the 4 first driving motors 1153, and further the running distance, the running speed and the running acceleration of the running gear 111 can be accurately controlled.

In some embodiments, the work machine 100 may further include a first detection device (not shown) electrically connected to the second control device 117, the first detection device being configured to detect an operation state of the first driving motor 1153 and output a corresponding first state signal; the second control device 117 is configured to receive the first state signal and the first control signal output by the first control device 116, and control the power supply amount of at least one of the generator set and the electrical storage device to the first driving motor 1153 according to the first state signal and the first control signal.

By providing the first detection device in the construction machine 100, the second control device 117 can determine the real-time operation state of the first drive motor 1153 based on the first state signal output by the first detection device, and adjust the amount of power supplied to the first drive motor 1153 by at least one of the generator set and the power storage device in real time, thereby further improving the control accuracy of the number of rotations, the rotational speed, and the rotational acceleration of the first drive motor 1153, and further improving the control accuracy of the travel distance, the travel speed, and the travel acceleration of the travel device 111.

Specifically, the first detecting means may include a plurality of first encoders electrically connected to the plurality of first driving motors 1153 in a one-to-one correspondence, the plurality of first encoders being electrically connected to the control means, and the control means receives first feedback signals of the plurality of first encoders and determines the operation state of the travel device 111 according to the first feedback signals.

The operation state of the driving device 111 may include a driving distance, a driving speed, and a driving acceleration, among others. In addition, the first drive motor 1153 may be one of the types of motors commonly used at present, for example, a servo motor, a stepping motor, or the like; the first encoder may be one of the currently commonly used encoder types, such as an absolute value encoder, an incremental encoder, a rotary transformer, etc., and the present embodiment does not limit the type of the first drive motor 1153 and the first encoder.

It is understood that the first driving motor 1153 is generally connected to the wheel 1112 through a speed reducer, when the first driving motor 1153 rotates, the wheel 1112 is driven to rotate, and the ratio of the number of revolutions, the rotational speed and the rotational acceleration of the first driving motor 1153 to the corresponding number of revolutions, the rotational speed and the rotational acceleration of the wheel 1112 is fixed, so that after the number of revolutions, the rotational speed and the rotational acceleration of the first driving motor 1153 are determined, the number of revolutions, the rotational speed and the rotational acceleration of the wheel 1112 can be calculated, and further, the driving distance, the driving speed and the driving acceleration of the driving device 111 can be calculated.

After the first driving motor 1153 starts to operate, the first encoder corresponding to the first driving motor 1153 starts to monitor the operating state of the first driving motor 1153 in real time, and feed back the monitored operating state parameters to the second control device 117, where the operating state may be the actual number of turns, the actual rotational speed, the actual rotational acceleration, and the like of the first driving motor 1153.

Upon receiving the feedback signal from the first encoder, the second control device 117 analyzes the feedback signal, and calculates an actual operating state of the travel device 111 by calculation and conversion of the feedback signal, where the actual operating state may include an actual travel distance, an actual travel speed, an actual travel acceleration, and the like of the travel device 111.

In some embodiments, as shown in fig. 1, the frame 1111 of the driving device 111 may include a third electric cylinder (not shown), and a first frame 1115 and a second frame 1116 hinged to each other, the first frame 1115 and the second frame 1116 having wheels 1112 respectively connected thereto, the working device 112 being connected to the first frame 1115, and the third electric cylinder being hinged to the first frame 1115 at one end and hinged to the second frame 1116 at the other end to drive the first frame 1115 to rotate relative to the second frame 1116. Therefore, during the traveling of the traveling device 111, the third electric cylinder is controlled to extend and retract, so that the rotation angle of the first frame 1115 relative to the second frame 1116 can be accurately controlled, and the rotation angle of the traveling device 111 during the traveling can be accurately controlled.

The third electric cylinder may include a screw hinged between the first frame 1115 and the second frame 1116, a fourth driving motor 1152 connected to the screw and driving the screw to extend and retract, and a fifth control device 125 electrically connected to the fourth driving motor 1152, the first control device 116, the generator set of the power device 126, and the power storage device, wherein the fifth control device 125 is configured to receive a third control signal output by the first control device 116 and used for turning the traveling device 111 by a preset angle, and control the amount of power supplied from the power device 126 to the fourth driving motor 1152 according to the third control signal, thereby accurately controlling the turning angle, the turning speed, and the turning acceleration of the traveling device 111. The fifth control device 125 may be directly electrically connected to the generator set and the power storage device of the power unit 126, or may be indirectly electrically connected to the generator set and the power storage device of the power unit 126 through the first control device 116.

Optionally, the work machine 100 may further include a third detecting device (not shown in the drawings), which is configured to detect the second electric cylinder 1142 and output a corresponding third signal; the fifth control device 125 and the power device 126 are electrically connected to the third electric cylinder, respectively, and the fifth control device 125 is configured to receive the third signal and control the power supply amount provided by the power device 126 to the third electric cylinder according to the third signal. The third detection device is arranged to detect the operation state of the third electric cylinder, so that the third detection device transmits a detection result to the fifth control device 125 as a third signal, after the fifth control device 125 receives a third control signal for turning the traveling device 111, the fifth control device 125 can determine the current state of the third electric cylinder according to the third signal, and then more accurately control the electric quantity supplied by the electric energy supply device to the third electric cylinder, so that the third electric cylinder drives the first frame 1115 to rotate by a preset angle relative to the second frame 1116.

The third detecting device may include a fourth encoder electrically connected to the fourth driving motor 1152, the fourth encoder is electrically connected to the fifth control device 125, and the fifth control device 125 receives a fourth feedback signal from the fourth encoder, and calculates a rotation number, a rotation speed, and a rotation acceleration of the fourth driving motor 1152 according to the fourth feedback signal, so as to determine a rotation angle of the first frame 1115 relative to the second frame 1116.

In some embodiments, the number of the third electric cylinders may be two, and two third electric cylinders are distributed on opposite sides of the hinge point of the first frame 1115 and the second frame 1116 to increase the force applied by the third electric cylinders to the first frame 1115 and the second frame 1116. Correspondingly, the third detecting means includes two fourth encoders electrically connected to the fifth control means 125, and the two fourth encoders are electrically connected to the fourth driving motors 1152 of the two third electric cylinders to detect the states of the two fourth driving motors 1152, respectively.

In some embodiments, as shown in fig. 1-3, work module 113 of work device 112 may include a bucket 1133, a flipping arm 1132, and a lifting arm 1131, wherein bucket 1133 is used to effect loading and unloading of materials; the overturning arm 1132 is used for loading materials into the bucket 1133 or pouring the materials out of the bucket 1133, one end of the overturning arm 1132 is hinged to the bucket 1133, and the other end of the overturning arm 1132 is hinged to the first electric cylinder 1141; the lifting arm 1131 is used for lifting or lowering the bucket 1133, and one end of the lifting arm 1131 is hinged to the bucket 1133, and the other end is hinged to the frame 1111.

Electric cylinder assembly 114 of work implement 112 may include a first electric cylinder 1141 and a second electric cylinder 1142, first electric cylinder 1141 being hinged between dump arm 1132 and carriage 1111 for driving bucket 1133 through dump arm 1132 to dump; a second electric cylinder 1142 is hinged between the lift arm 1131 and the carriage 1111 for driving the bucket 1133 up or down by the lift arm 1131.

As shown in fig. 4, the first electric cylinder 1141 may include a first ball screw assembly 1143 and a second driving motor 1148, one end of the first ball screw assembly 1143 is hinged to the frame 1111, the other end is connected to one end of the turning arm 1132, which is far away from the bucket 1133, and the second driving motor 1148 is connected to the first ball screw assembly 1143 and drives the first ball screw assembly 1143 to operate; the second electric cylinder 1142 may include a second ball screw assembly 1149 and a third driving motor 1150, one end of the second ball screw assembly 1149 is hinged to the frame 1111, the other end is connected to the middle of the lift arm 1131, and the third driving motor 1150 is connected to the second ball screw assembly 1149 and drives the second ball screw assembly 1149 to operate.

The first ball screw pair 1143 and the second ball screw pair 1149 have the same structure, as shown in fig. 5, taking the first ball screw pair 1143 as an example, the first ball screw pair 1143 includes a screw bar 1144, an end cover 1145, a nut 1146, a ball 1147, the end cover 1145 and the nut 1146 are sleeved on the screw bar 1144, the nut 1146 and the end cover 1145 are all provided with spiral grooves, the grooves are combined to form a ball 1147 circulation channel, and the ball 1147 circulates and rolls in the channel. When the nut 1146 is in operation, the nut 1146 is connected to a component which needs to do linear reciprocating motion, and the screw 1144 rotates to drive the nut 1146 to do linear reciprocating motion, so that the component is driven to do linear reciprocating motion.

First electronic jar 1141 and second electronic jar 1142 all adopt the ball screw pair as the transmission pair among the equipment 112, be favorable to reducing the drive moment of transmission pair, thereby first electronic jar 1141 drive upset arm 1132 realizes that scraper bowl 1133 overturns and second electronic jar 1142 drive lifts arm 1131 and realizes that scraper bowl 1133 lifts or improves transmission efficiency when descending, simultaneously because roll friction power is less relatively, first electronic jar 1141 and second electronic jar 1142 reduce by a wide margin at the during operation heat generation rate, be favorable to improving transmission efficiency.

In some embodiments, as shown in fig. 3, the number of the lifting arm 1131 and the number of the second electric cylinders 1142 are two, and the second ball screw assembly 1149 has the characteristics of smooth operation, elimination of axial clearance, and manufacturing consistency, so that when a plurality of electric cylinders using ball screw assemblies are used to drive the same device or a plurality of the same components, good synchronization performance can be obtained, and the working efficiency of the working device 112 can be improved.

In some embodiments, the electric cylinder assembly 114 may further include an electric control device electrically connected to the first control device 116, and a second detection device (not shown) electrically connected to the third control device 119, wherein the third control device 119 is electrically connected to the second driving motor 1148, the third driving motor 1150, and the generator set and the electric storage device of the power device 126, and the second detection device is configured to detect the operating states of the second driving motor 1148 and the third driving motor 1150 and output a corresponding second state signal; the third control device 119 is configured to receive the second status signal and a second control signal, which is output by the first control device 116 and used for controlling the operation of the working device 112, and control the power supply amount provided to the second electric cylinder 1142 and the third electric cylinder by at least one of the generator set and the storage device according to the second status signal and the second control signal.

By providing the second detection device on the construction machine 100, the third control device 119 can determine the real-time operating state of the second drive motor 1148 and the third drive motor 1150 according to the second state signal output by the second detection device, so as to adjust the power supply amount of at least one of the generator set and the power storage device to the second drive motor 1148 and the third drive motor 1150 in real time, further improve the control accuracy of the number of rotations, the rotational speed, and the rotational acceleration of the second drive motor 1148 and the third drive motor 1150, and further improve the control accuracy of the rotation angle, the rotational speed, and the rotational acceleration of the turning arm 1132 and the lifting arm 1131.

Specifically, the second detecting device may include a second encoder 1151 (as shown in fig. 4) electrically connected to the second driving motor 1148, and a third encoder electrically connected to the third driving motor 1150, the second encoder 1151 and the third encoder are electrically connected to the third controlling device 119, respectively, and the third controlling device 119 may receive the first sub-feedback signal of the second encoder 1151, and determine the operation state of the flipping arm 1132 according to the first sub-feedback signal. Meanwhile, the third control device 119 may also receive a second sub-feedback signal fed back by the third encoder, and determine the operation state of the lifting arm 1131 according to the second sub-feedback signal.

Wherein, the running state of upset arm 1132 can include the flip angle, the upset speed and the upset acceleration of upset arm 1132. The operation state of the lift arm 1131 may include a lift angle, a lift speed, and a lift acceleration of the lift arm 1131.

In addition, the types of the second driving motor 1148 and the third driving motor 1150 may be servo motors, stepping motors, etc., and the types of the second encoder 1151 and the third encoder may refer to the type of the first encoder, which will not be described herein.

It can be understood that the second driving motor 1148 is generally connected to the first ball screw assembly 1143 through a speed reducer, when the second driving motor 1148 rotates, the first ball screw assembly 1143 is driven to extend and retract, and the number of rotation turns, the rotation speed and the rotation acceleration of the second driving motor 1148 are fixed to the extension length, the extension speed and the extension acceleration of the first ball screw assembly 1143, so that after the number of rotation turns, the rotation speed and the rotation acceleration of the second driving motor 1148 are determined, the extension length, the extension speed and the extension acceleration of the first ball screw assembly 1143 can be calculated, and then the overturning, the overturning speed and the overturning acceleration of the overturning arm 1132 are calculated.

After the second driving motor 1148 starts to work, the second encoder 1151 corresponding to the second driving motor 1148 starts to monitor the working state of the second driving motor 1148 in real time, and feeds back the monitored working state parameters to the third control device 119, where the working state may be an actual number of revolutions, an actual rotational speed, an actual rotational acceleration, and the like of the second driving motor 1148.

After receiving the feedback signal of the second encoder 1151, the third control device 119 analyzes the feedback signal, and calculates an actual operating state of the flip arm 1132 through related calculation and conversion, where the actual operating state may include an actual flip angle, an actual flip speed, an actual flip acceleration, and the like of the flip arm 1132.

The manner in which the third control device 119 determines the operation state of the lifting arm 1131 according to the second sub-feedback signal is substantially the same as the manner in which the control device determines the operation state of the flipping arm 1132 according to the first sub-feedback signal, and is not described herein again.

Specifically, as shown in fig. 3, the working machine 100 is a loader, the working module 113 of the working device 112 includes two lifting arms 1131, a turning arm 1132 and a bucket 1133, the two lifting arms 1131 are arranged side by side, one end of each of the two lifting arms 1131 is hinged to the front end of the frame 1111, the other end of each of the two lifting arms 1131 is hinged to the bucket 1133, the middle portions of the two lifting arms 1131 are connected together by a connecting portion 1134, the middle portion of the turning arm 1132 is hinged to the connecting portion 1134, and one end of the turning arm 1132 is hinged to the bucket 1133 by a connecting rod 1135.

The one end of first electronic jar 1141 is articulated together with the front end of frame 1111, and the other end is articulated together with the other end of upset arm 1132, and the quantity of second electronic jar 1142 is two, and two electronic jars 1142 of second are located the below of two arms 1131 that lift respectively, and the one end of two electronic jars 1142 of second is articulated together with the front end of frame 1111 respectively, and the other end of two electronic jars is articulated together with the middle part below of two arms 1131 that lift respectively.

In other embodiments, the work machine 100 may be an excavator, a bulldozer, or the like, and the structures of the traveling device 111 and the work device 112 of different types of work machines 100 may differ. For example: when the work machine 100 is an excavator, the traveling device 111 of the work machine 100 may include a chassis, a frame assembly, a center swivel, and the like provided on the chassis, and the work device 112 may include a boom, a bucket attached to the boom, and the like.

In some embodiments, the power generating unit may include a Liquefied Natural Gas (LNG) engine and a generator connected to an output end of the LNG engine, the LNG engine drives a crankshaft to rotate by burning LNG, and then the crankshaft drives the generator to rotate to generate power, and the electric energy generated by the generator is transmitted to the power storage device, the driving mechanism or the electric cylinder assembly 114 under the control of the control device. Because the main component of the liquefied natural gas is methane, a large amount of heat is released after the liquefied natural gas is combusted, and the tail gas discharged after the combustion is mainly water and carbon dioxide, so that the pollution to the environment is very small.

Wherein, power device 126 still includes the liquid storage tank that supports on frame 1111, has stored liquefied natural gas in the liquid storage tank, and the export of liquid storage tank passes through the pipeline and is connected with the liquefied natural gas engine to provide liquefied natural gas for the liquefied natural gas engine.

Of course, the generator set may also include a diesel engine and a generator connected to an output of the diesel engine. Alternatively, the generator set may also include a gasoline engine and a generator connected to an output of the gasoline engine.

The electric storage device can be a super capacitor, a lithium battery, a lead storage battery and the like, the electric storage device is charged by the generator set, and a plug electrically connected with the electric storage device can be arranged on the running device 111 and is used for being connected with a mains supply to charge the electric storage device through the mains supply, so that the use of fuel is reduced, and the energy-saving and environment-friendly effects of the engineering machinery are further improved.

In some embodiments, as shown in fig. 6, the work machine 100 may further include an intelligent system 120, where the intelligent system 120 is configured to acquire an environment around the work machine 100 and control the work machine 100 to automatically operate according to the environment around the work machine 100, so as to implement long-time operation of the work machine 100, improve the use efficiency of the work machine 100, and prevent the operating environment of the work machine 100 from affecting physical and psychological health of an operator.

The intelligent system 120 may include a fourth control device 121 electrically connected to the driving mechanism, the electric cylinder assembly 114 and the first control device 116, and an environment detection device 122, a navigation positioning device 123 and a state detection device 124 electrically connected to the fourth control device 121; the environment detection device 122 is configured to collect environment information of the construction machine 100, and transmit the environment information to the fourth control device 121, where the fourth control device 121 determines an environment around the construction machine 100 according to the environment information; the navigation positioning device 123 is configured to detect position information of the construction machine 100 and transmit the position information to the fourth control device 121, and the fourth control device 121 determines the position of the construction machine 100 according to the position information; the state detection device 124 is used for detecting state information of the traveling device 111 and the working device 112 and transmitting the state information to the fourth control device 121, the state detection device 124 may include the first detection device and the second detection device, and the fourth control device 121 determines the operation state of the driving mechanism and the electric cylinder assembly 114 according to the state information; the fourth control device 121 is configured to receive a work instruction, and output a corresponding third control signal to the first control device 116 according to the work instruction, the environment around the work machine 100, the position of the work machine 100, and the operation states of the driving mechanism and the electric cylinder assembly 114, so that the first control device 116 controls at least one of the generator set and the electrical storage device to supply power to the driving mechanism and the electric cylinder assembly.

The engineering machine 100 provided in the embodiment of the present application acquires the environmental information of the engineering machine 100 through the environmental detection device 122, detects the position information of the engineering machine 100 through the navigation positioning device 123, transmits the environmental information and the position information of the engineering machine 100 to the fourth control device 121, and determines the environment around the engineering machine 100 and the position of the engineering machine 100 according to the information by the fourth control device 121; then, the fourth control device 121 determines the operation states of the driving mechanism of the construction machine 100 and the electric cylinder assembly 114 through the state detection device 124, and outputs a corresponding control signal according to the current operation states of the driving mechanism and the electric cylinder assembly 114, so that the traveling device 111 of the construction machine 100 can automatically travel in the surrounding environment, and the working device 112 automatically works in the surrounding environment, thereby realizing the automatic operation of the construction machine 100, and making the construction machine 100 not need to be operated by an operator on site, thereby avoiding the operation environment of the construction machine 100 from affecting the physical and mental health of the operator.

In some embodiments, the fourth control device 121 may include a first control module, and the environment detection device 122 may include a work environment detection module and an obstacle detection module electrically connected to the first control module of the fourth control device 121, wherein the work environment detection module is configured to collect work environment information of the work machine 100 and transmit the work environment information to the first control module of the fourth control device 121; the obstacle detection module is used for acquiring obstacle information around the engineering machinery 100 and transmitting the obstacle information to the first control module of the fourth control device 121; the first control module determines an environment around the construction machine 100 based on the work environment information and the obstacle information.

The environment detection device 122 provided in the embodiment of the present application detects the work environment information around the construction machine 100 through the work environment detection module, and detects the obstacle information around the construction machine 100 through the obstacle detection module, and then the first control module of the fourth control device 121 determines the work environment and the obstacle around the construction machine 100 according to the work environment information and the obstacle information, and uses the work environment and the obstacle around the construction machine 100 as the environment around the construction machine 100, so that the intelligent system 120 controls the traveling device 111 of the construction machine 100 to automatically travel and avoid the obstacle in the work environment.

In some embodiments, the first control module of the fourth control device 121, the operation environment detection module, and the obstacle detection module may be connected via a Controller Area Network (CAN), where the CAN belongs to a bus-type serial communication Network, and the CAN bus structure is generally divided into two layers, i.e., a physical layer and a data link layer (including a logic link control sublayer and a media access control sublayer).

In some embodiments, the working environment detection module may include a 3D map building component electrically connected to the first control module of the fourth control device 121, the 3D map building component is configured to collect 3D topographic information of the working environment of the working machine 100, transmit the 3D topographic information to the first control module, and determine a 3D map of the working environment of the working machine 100 according to the received 3D topographic information. After the first control module determines the 3D map around the construction machine 100 through the 3D map building component, the first control module can effectively plan a suitable driving route according to the 3D map, and control the driving device 111 to drive according to the driving route.

Specifically, the 3D map building component may include a laser radar group (not shown in the figure) and a camera group (not shown in the figure) electrically connected to the first control module, the laser radar group and the camera group being disposed on the top of the traveling device 111, the laser radar group being configured to scan distance information and angle information of objects around the construction machine 100 and transmit the distance information and the angle information to the first control module; the camera group is used for acquiring image information of objects in the surrounding environment of the engineering machinery 100 and transmitting the image information to the first control module; the first control module determines a 3D map of the work environment of the work machine 100 based on the distance information, the angle information, and the image information. Because the top of the engineering machine 100 has few obstacles and a high height, a wide view field is provided for the laser radar group and the camera group, and a view field blind area is reduced, so that the imaging effect is effectively improved.

The object in the surrounding environment of the engineering machine 100 refers to an object such as a tree or a soil slope in the surrounding environment of the engineering machine 100. The laser radar set has the advantages of high spatial resolution and high ranging precision, so that the position and the shape of the object in the surrounding environment of the engineering machine 100 can be accurately detected. The type of the objects in the surrounding environment of the engineering machine 100 can be accurately identified through the image information of the objects in the surrounding environment of the engineering machine 100 acquired by the camera group, and therefore, the first control module in the application can more accurately construct a 3D topographic map of the working environment of the engineering machine 100 by integrating the distance information and the angle information of the objects acquired by the laser radar group and the image information acquired by the camera group.

In some embodiments, as shown in fig. 1 and fig. 2, a liftable supporting device 1113 is disposed at the top of the engineering machine 100, a cradle head 1114 is disposed above the supporting device 1113, and the lidar group and the camera group are disposed on the cradle head 1114, the cradle head 1114 has a damping function, and the liftable supporting device 1113 is electrically controlled, and the engineering machine 100 can adjust the height of the liftable supporting device 1113 according to requirements, so as to adjust the heights of the lidar group and the camera group, and adjust the scanning range of the lidar group and the shooting range of the camera group.

In this embodiment, the laser radar is a radar system that detects characteristic quantities such as a position and a speed of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after proper processing, the related information of the target can be obtained, such as target distance, azimuth, height, speed, attitude, and even shape, the working principle of the laser radar is very similar to that of the radar, the laser is used as a signal source, pulse laser emitted by a laser device is applied to trees, roads, bridges and buildings on the ground to cause scattering, a part of light wave is reflected to a receiver of the laser radar, the distance from the laser radar to the target point is obtained through calculation according to the laser ranging principle, the pulse laser continuously scans the target object, data of all the target points on the target object can be obtained, and accurate three-dimensional images can be obtained after the data are used for imaging processing. The camera group may generally include a plurality of cameras, and the number of the plurality of cameras may be 3 or 5, and the specific number is not limited herein.

In addition, the working environment detection module may also include a working medium sensing component electrically connected to the first control module, where the working medium sensing component is configured to detect distance information of the working medium and transmit the distance information to the first control module, and the first control module determines a relative position of the working medium according to the distance information, so that the first control module controls the working device 112 of the construction machine 100 to accurately perform work processing on the working medium. The working medium refers to a working object of the working machine 100, and the types of the working medium may be different depending on the type of the working machine 100, for example: when the work machine 100 is a loader, the work medium may include stones, soil heaps, etc., and when the work machine 100 is a bulldozer, the work medium may be a soil heap or other structure.

In some embodiments, as shown in fig. 1, the work medium sensing assembly may include a second ultrasonic radar 1223 disposed at a front side of the work machine 100, the second ultrasonic radar 1223 being configured to detect distance information of the work medium. By providing the second ultrasonic radar 1223 in front of the construction machine 100, the position information of the working medium on the front side of the construction machine 100 can be effectively detected, and the position and state of the construction machine 100 itself can be adjusted according to the position information of the working medium, so that the construction machine 100 can automatically move to the vicinity of the working medium and process the working medium.

Further, the second ultrasonic radar 1223 may be additionally disposed right behind and on both sides of the engineering machine 100, that is, the second ultrasonic radar 1223 may be in a plurality of numbers and be distributed around the engineering machine 100, so that the related information of the working medium around the engineering machine 100 may be comprehensively obtained, and then the related information of the working medium around the engineering machine 100 may be sent to the first control module, and the first control module may combine the related information of the working medium around the engineering machine 100 with the 3D topographic information to plan the working path, thereby optimizing the working efficiency.

It should be noted that the working environment detection module may include both the 3D map building component and the working medium sensing component, or may include only one of the two, which may be determined according to the actual use environment of the work machine 100. For example: in an actual application process of the engineering machine 100, if the working environment of the engineering machine 100 is known and fixed, the 3D terrain of the working environment may be constructed in advance to obtain the 3D terrain information of the current working environment, and the engineering machine 100 may directly transmit the 3D map to the first control module during the working process without additionally providing a 3D map construction component. Similarly, in the practical application process of the construction machine 100, if the position of the working medium is known, the construction machine 100 may directly transmit the information related to the working medium to the first control module during the working process without additionally providing a working medium sensing component.

In some embodiments, as shown in fig. 2, the obstacle detection module may include a plurality of cameras 1224 electrically connected to the first control module and installed around the work machine 100, where the plurality of cameras 1224 are configured to collect image information of obstacles around the work machine 100 and transmit the image information to the first control module, and the first control module determines the distance, category, and shape of obstacles around the work machine 100 according to the image information of the obstacles. Because the engineering machine 100 is widely applied to the fields of construction engineering, transportation, agriculture, forestry and water conservancy and the like, and when the engineering machine 100 is applied to different fields, the actual working environment is different, for example, when the engineering machine 100 is applied to a construction site, the surface of the construction site is rugged, various building materials may be stored nearby the periphery, and when the engineering machine is applied to agriculture, forestry and water conservancy, the surrounding environment may be a hollow ground, the periphery or a pond farmland, and obstacles corresponding to different application scenes are different, so that accurate obstacle identification is extremely important, in the embodiment, a plurality of cameras 1224 are arranged at intervals on the front side, the rear side and the side of the engineering machine 100, real-shot images around the engineering machine 100 can be obtained in an all-around manner, the detection range of the obstacles is greatly improved, and the collision probability between the engineering machine 100 and the obstacles is reduced.

In some embodiments, as shown in fig. 2, the obstacle detection module may further include a plurality of millimeter wave radars 1225 electrically connected to the first control module and installed around the work machine 100, where the plurality of millimeter wave radars 1225 are used to detect the distance, position, and motion state of an obstacle around the work machine 100. Engineering machine 100 can produce a large amount of grey layers in the actual operation engineering, and when the grey layer volume reached a certain time, visual sensing equipment's such as the group of making a video recording on engineering machine 100 function will receive the influence, consequently, through set up millimeter wave radar 1225 around engineering machine 100, utilize the characteristics that penetrating fog, cigarette, dust ability reinforce and the interference killing feature that this millimeter wave radar 1225 possessed are strong, effectively improved the anticollision of special case and kept away the barrier to improve the security of engineering machine 100 intelligent operation.

In some embodiments, as shown in fig. 2, the obstacle detection module may further include a plurality of first ultrasonic radars 1226 electrically connected to the first control module and installed around the work machine 100, where the plurality of first ultrasonic radars 1226 are used to detect the distance and position of obstacles around the work machine 100. Because first ultrasonic radar 1226 has the characteristics of strong penetrability, small attenuation, strong reflectivity, insensitivity to illumination, color and electromagnetic field, and difficult influence by severe weather, etc., can detect the obstacles around engineering machine 100 effectively, avoid receiving the influence of dust, illumination, etc., thereby improving the security of the intelligent operation of engineering machine 100. The first ultrasonic radar 1226 and the second ultrasonic radar 1223 may be the same ultrasonic radar or different ultrasonic radars, and of course, the former may reduce the cost of the construction machine 100.

It should be noted that, the obstacle detection module in the present application may include both the millimeter-wave radar 1225 and the first ultrasonic radar 1226, or may include only one of the millimeter-wave radar 1225 and the first ultrasonic radar 1226, and of course, the former may detect an obstacle within a range of 200m by the millimeter-wave radar 1225, and detect a short-distance obstacle by the first ultrasonic radar 1226, so as to more accurately detect an obstacle near the construction machine 100.

In addition, the number of the first control modules in the present application may be one or more, for example: the number of the first control modules may be one, and the sensors of the laser radar group, the camera group, and the second ultrasonic radar 1223 of the working environment detection module, and the camera 1224, the millimeter wave radar 1225, and the first ultrasonic radar 1226 of the obstacle detection module are all electrically connected to the first detection module. Alternatively, the number of the first control modules may be plural, and the sensors such as the laser radar group, the camera group, and the second ultrasonic radar 1223 of the work environment detection module, and the camera 1224, the millimeter wave radar 1225, and the first ultrasonic radar 1226 of the obstacle detection module may be electrically connected to different first control modules.

In some embodiments, the fourth control device 121 may include a second control module, and the navigation positioning device 123 may include a navigation module disposed on the work machine body 110, where the navigation module is electrically connected to the second control module, and is configured to collect position information of the work machine 100 and send the position information to the second control module, so that the second control module determines the position of the work machine 100 according to the position information. The second control module can accurately acquire the position of the construction machine 100 through the navigation module, so that the second control module can accurately control the driving direction and the driving distance of the driving device 111.

As shown in fig. 1, the navigation module may include a satellite navigation component 1231, an inertial navigation component 1232, and a visual odometer component (not shown in the figure) electrically connected to the second control module; the satellite navigation assembly 1231 is configured to position the engineering machine 100 according to the satellite signal, and output a corresponding first positioning signal to the fourth control device 121; the inertial navigation module is used for detecting the operation state of the engineering machine 100, positioning the engineering machine 100 according to the operation state, and outputting a corresponding second positioning signal to the second control module; the visual odometer component is used for detecting surrounding environment change information in the movement process of the engineering machinery 100, positioning the engineering machinery 100 according to the environment change information and outputting a corresponding third positioning signal to the second control module; the second control module determines the position of the work machine 100 according to at least one of the first positioning signal, the second positioning signal, and the third positioning signal, and the environmental information collected by the environmental detection device 122.

The satellite navigation assembly 1231 has the advantages of low cost, accurate positioning and the like, however, since the satellite navigation is a passive positioning, the satellite signals are easily affected by the external environment, and in a complex urban high-density area, the propagation of the satellite signals is blocked or the signals are reflected and diffracted, so that the signals received by the receiver are deviated when the position is resolved, and the precision is far from the requirement.

While the inertial navigation component 1232 is a navigation component that predicts position based on three-dimensional dead reckoning, the hardware portion includes inertial sensors including accelerometers and gyroscopes, and a navigation processor. The inertial navigation module 1232 is mounted on the traveling device 111 of the construction machine body 110 and is in signal connection with the operation controller, and the inertial navigation module 1232 can provide high calculation accuracy in a short time by measuring acceleration and angular acceleration of the construction machine 100 and integrating the measured acceleration with time to obtain a position and a speed. However, as time increases, a relatively large error accumulation occurs, the speed accumulated error is proportional to time, and the position error is accumulated as the square of time, so that the inertial navigation needs to be fused with other navigation systems to ensure the long-term stability of the system.

The visual odometer assembly employs a camera for relative positioning according to the surrounding environment of the engineering machine 100 in motion, and primarily employs a binocular camera.

According to the method, the navigation module simultaneously comprises the satellite navigation component 1231, the inertial navigation component 1232 and the visual odometer component, when a satellite navigation signal exists, positioning can be mainly performed through the satellite navigation component 1231, and meanwhile, the inertial navigation component 1232 and the visual odometer component can assist in positioning or not perform positioning; when the satellite navigation signal is not available, the inertial navigation component 1232 and the visual odometry component may be combined to locate the work machine 100 so that the work machine 100 can be located in different situations.

Fig. 7 is a diagram illustrating a circuit connection and a mechanical connection relationship between components of a construction machine according to an embodiment of the present application. As shown in fig. 7, the 4 wheels 1112 of the work machine 100 are a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, respectively, and each wheel 1112 is connected to a separate first driving motor 1153, so that the 4 first driving motors 1153 drive the 4 wheels 1112 to rotate; the engine is connected with the generator and drives the generator to rotate so as to enable the generator to generate electric energy; the second driving motor 1148 and the third driving motor 1150 are respectively connected to the first ball screw assembly 1143 and the second ball screw assembly 1149 to drive the first ball screw assembly 1143 and the second ball screw assembly 1149 to rotate.

The construction machine 100 further includes a power distribution device 118, the power distribution device 118 is electrically connected to the power unit 126, the first control device 116, the second control device 117, the third control device 118, and the fifth control device 125, respectively, and the first control device 116 controls the power unit 126 to supply power to the electric cylinder assembly 114, the first drive motor 1153, the fourth drive motor 1152, and the like through the power distribution device 118.

The power distribution device 118 may include a rectifier, a power converter, and the like, and the power distribution device 118 converts the ac power generated by the generator set into dc power through the rectifier to charge the power storage device, and supplies power to each driving motor through the power converter, the inverter, and the like.

It should be noted that the electrical connection may include both an electrical power connection and a signal connection, that is, after two components are electrically connected, the two components may transmit electrical power and electrical signals therebetween, which may be determined according to practical situations, and is not limited herein. In addition, the point connection mode may include a direct electrical connection and an indirect electrical connection, and only needs to enable electrical signals or electrical energy to be transmitted between two electrically connected devices.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The engineering machinery provided by the embodiment of the application is described in detail, a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the technical scheme and the core idea of the application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. A work machine, characterized in that the work machine comprises:

2. The work machine of claim 1, wherein the power generator unit includes an lng engine and a generator coupled to an output of the lng engine.

3. The work machine of claim 1, wherein said first control means is adapted to control said generator set to charge said electrical storage means when an output power of said generator set is greater than a load power of said drive mechanism and said electric cylinder assembly.

4. The working machine according to claim 1, wherein the first control means is configured to control the electrical storage device to supply power to the drive mechanism and the electric cylinder assembly when the output power of the generator set is smaller than the load power of the drive mechanism and the electric cylinder assembly.

5. The work machine of claim 1, wherein the frame is provided with a plurality of wheels, the driving mechanism includes a plurality of first driving motors provided on the frame, and a second control device electrically connected to the plurality of first driving motors, the plurality of first driving motors being equal in number to the plurality of wheels and being connected in a one-to-one correspondence.

6. The construction machine according to claim 5, wherein the second control device is electrically connected to the generator set, the electrical storage device, and the first control device, and further comprising a first detection device electrically connected to the second control device, the first detection device being configured to detect an operation state of the first drive motor and output a corresponding first state signal;

7. The work machine of claim 1, wherein the work module includes a bucket, a tilt arm, and a lift arm, the electric cylinder assembly including a first electric cylinder and a second electric cylinder, the tilt arm being hingedly connected at one end to the bucket and at another end to the first electric cylinder; one end of the lifting arm is hinged to the bucket, and the other end of the lifting arm is hinged to the frame;

8. The work machine of claim 7, wherein said electric cylinder assembly further comprises a third control device electrically connected to said first control device, and a second detection device electrically connected to said third control device, said third control device being electrically connected to said generator set, said accumulator device, said second drive motor and said third drive motor, said second detection device being configured to detect an operating state of said second drive motor and said third drive motor and output a corresponding second state signal;

9. The working machine according to any one of claims 1-8, characterized in that the working machine comprises a fourth control device electrically connected with the driving mechanism, the electric cylinder assembly and the first control device, and an environment detection device, a navigation positioning device and a state detection device electrically connected with the fourth control device;

10. The work machine of claim 9, further comprising a remote control device comprising a VR integrated device and a control device, the control device being electrically connected to the VR integrated device, the control device being wirelessly connected to the fourth control device, the fourth control device transmitting an environment surrounding the work machine, a position of the work machine, and operating conditions of the drive mechanism and the motorized cylinder assembly to the VR integrated device via the control device and displaying in the VR integrated device; the control device is further configured to receive the job instruction output by the VR integrated device, and transmit the job instruction to the fourth control apparatus.