WO2022022583A1

WO2022022583A1 - Engineering machine

Info

Publication number: WO2022022583A1
Application number: PCT/CN2021/108994
Authority: WO
Inventors: 易琅琳
Original assignee: 四川鼎鸿智电装备科技有限公司
Priority date: 2020-07-29
Filing date: 2021-07-28
Publication date: 2022-02-03
Also published as: CN114032990A

Abstract

Disclosed in the present application is an engineering machine, comprising a traveling apparatus, a working apparatus, a power apparatus, and a first control apparatus. The traveling apparatus comprises a vehicle frame; vehicle wheels and a drive mechanism connected to the vehicle wheels are provided on the vehicle frame; the working apparatus comprises a working module connected to the vehicle frame, and an electric cylinder assembly which is connected to the working module and drives the working module to act; the power apparatus comprises a generator set and an electricity storage apparatus; the first control apparatus is used for controlling at least one of the generator set and the electricity storage apparatus to supply electricity to the drive mechanism and the electric cylinder assembly.

Description

construction machinery

technical field

The present application relates to the technical field of construction machinery, in particular to a construction machinery.

Background technique

Construction machinery generally includes loaders, excavators, bulldozers, etc., which are widely used in many fields such as urban construction, mining, disaster relief and national defense. Existing construction machinery generally uses diesel engines as power to drive the hydraulic drive system and transmission system of the construction machinery to make the construction machinery move and work.

technical problem

Existing construction machinery not only has high energy consumption under normal working conditions, but also the exhaust gas will pollute the environment.

technical solutions

The embodiment of the present application provides a construction machine, which aims to solve the problem of high energy consumption of the existing construction machine and the pollution of the environment caused by the exhaust gas, so as to realize the energy saving and emission reduction of the construction machine.

The embodiment of the present application provides a construction machine, and the construction machine includes:

a traveling device, including a vehicle frame, on which a wheel and a driving mechanism connected to the wheel are arranged;

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

A power device is arranged on the frame, the power device includes a generator set and a power storage device, the generator set is electrically connected to the power storage device, and supplies power to the power storage device; the generator set is connected to the power storage device. the drive mechanism and the electric cylinder assembly are electrically connected, and the power storage device is electrically connected with the drive mechanism and the electric cylinder assembly;

a first control device, provided on the vehicle frame, the first control device is electrically connected to the drive mechanism, the electric cylinder assembly, the generator set and the power storage device, the first control device for controlling at least one of the generator set and the power storage device to supply power to the drive mechanism and the electric cylinder assembly.

In some embodiments, the generator set includes an LNG engine, and a generator connected to an output of the LNG engine.

In some embodiments, the power plant further includes a liquid storage tank supported on the frame, and an outlet of the liquid storage tank is connected to the LNG engine through a pipeline.

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

In some embodiments, the first control device is configured to control the power storage device to send the power to the drive mechanism and the electric cylinder assembly when the output power of the generator set is less than the load power of the drive mechanism and the electric cylinder assembly. The electric cylinder assembly is powered.

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

In some embodiments, the second control device is electrically connected to the generator set, the power storage device, and the first control device, and the construction machine further includes a first control device that is electrically connected to the second control device. a detection device, the first detection device is used to detect the running state of the first drive motor, and output a corresponding first state signal;

The second control device is configured to receive the first state signal and the first control signal output by the first control device, and control the generator set and the generator set according to the first state signal and the first control signal. The amount of power supplied by at least one of the power storage devices to the first drive motor.

In some embodiments, the first detection device includes a plurality of first encoders electrically connected to the plurality of first drive motors in a one-to-one correspondence, the plurality of first encoders and the second control device In electrical connection, the second control device receives the first feedback signals of the plurality of first encoders, and determines the running state of the traveling device according to the first feedback signals.

In some embodiments, the working module includes a bucket, a flip arm and a lift arm, the electric cylinder assembly includes a first electric cylinder and a second electric cylinder, and one end of the flip arm is hinged to the bucket, The other end is hinged with the first electric cylinder; one end of the lift arm is hinged with the bucket, and the other end is hinged with the frame;

The first electric cylinder includes a first ball screw pair and a second drive motor, one end of the first ball screw pair is hinged on the frame, and the other end is connected to the end of the turning arm away from the bucket, 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 includes a second ball screw pair and a third drive motor. One end of the second ball screw pair is hinged to the frame, and the other end is connected to the middle of the lift arm. Three drive motors are connected with the second ball screw pair and drive 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 is electrically connected to the generator set, the power storage device, the second drive motor and the third drive motor, and the second detection device is used to detect the second drive motor and the third drive motor The running state is detected, and the corresponding second state signal is output;

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

In some embodiments, the second detection device includes a second encoder electrically connected to the second drive motor, the second encoder is electrically connected to the third control device, the third control device It is used for receiving the first sub-feedback signal of the second encoder, and determining the operating state of the flip arm according to the first sub-feedback signal.

In some embodiments, the second detection device includes a third encoder electrically connected to the third drive motor, the third encoder is electrically connected to the third control device, and the third control device for receiving the second sub-feedback signal fed back by the third encoder, and determining the operating state of the lift arm according to the second sub-feedback signal.

In some embodiments, the second drive motor includes a servo motor or a stepper motor; the third drive motor includes a servo motor or a stepper motor.

In some embodiments, the working module includes two lifting arms, the two lifting arms are arranged side by side, one end of the two lifting arms is hinged with the front end of the frame, and the two lifting arms are hinged with the front end of the frame. The other end of the lift arm is hinged with the bucket, and the middle parts of the two lift arms are connected together by a connecting part.

In some embodiments, the middle portion of the flip arm is hinged with the connecting portion.

In some embodiments, the frame of the traveling device includes a third electric cylinder, and a first frame and a second frame that are hinged to each other, and the first frame and the second frame are respectively connected with The wheel and the working device are connected with the first frame, one end of the third electric cylinder is hinged with the first frame, and the other end is hinged with the second frame, so as to drive the first frame. A frame rotates relative to the second frame.

In some embodiments, the third electric cylinder includes a lead screw hinged between the first frame and the second frame, a fourth lead screw connected to the lead screw and driving the lead screw to extend and retract a drive motor, and a fifth control device electrically connected to the fourth drive motor, the first control device, the generator set of the power plant, and the power storage device, the fifth control device for receiving the first control device A third control signal output by a control device to make the traveling device turn a preset angle, and according to the third control signal, the power supply amount provided by the power device to the fourth driving motor is controlled.

In some embodiments, the number of the third electric cylinders may be two, and the two third electric cylinders are distributed on opposite sides of the hinge point of the first frame and the second frame.

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

The environment detection device is used to collect the environmental information of the construction machinery, and transmit the environmental information to the fourth control device, and the fourth control device determines the environment around the construction machinery according to the environmental information ;

The navigation and positioning device is used to detect the position information of the construction machine, and transmit the position information to the fourth control device, and the fourth control device determines the position of the construction machine according to the position information;

The state detection device is used to detect the state information of the driving mechanism and the electric cylinder assembly, and transmit the state information to the fourth control device, and the fourth control device determines the state information according to the state information. the operating state of the drive mechanism and the electric cylinder assembly;

The fourth control device is used for receiving an operation instruction, and according to the operation instruction, the surrounding environment of the construction machine, the position of the construction machine, and the operating state of the drive mechanism and the electric cylinder assembly, output corresponding The third control signal is sent to the first control device, so that the first control device controls at least one of the generator set and the power storage device to supply power to the driving mechanism and the electric cylinder assembly.

In some embodiments, the construction machine further includes a remote control device, the remote control device includes a VR integrated device and a control device, the control device is electrically connected to the VR integrated device, and the control device is connected to the fourth control device. The device is wirelessly connected, and the fourth control device transmits the surrounding environment of the construction machine, the position of the construction machine, and the operating state of the drive mechanism and the electric cylinder assembly to the VR integration through the control device equipment, and display in the VR integrated equipment; the control equipment is further configured to receive the operation instruction output by the VR integrated equipment, and transmit the operation instruction to the fourth control device.

beneficial effect

The construction machinery provided by this application makes the power device include a generator set and a power storage device. When the electrical energy generated by the generator set is greater than the electrical energy consumed by the electric cylinder and the driving mechanism, the excess electrical energy can be stored in the power storage device. When the electrical energy stored by the device is large, or the electrical energy required by the electric cylinder and the driving mechanism is large, the first control device can control the electrical storage device to supply power to the electric cylinder assembly and the driving mechanism, thereby improving the energy utilization rate of the power device and reducing the power consumption. The energy consumption of the device is reduced, the amount of exhaust gas emitted by the construction machinery is reduced, and the energy saving and emission reduction of the construction machinery is realized.

Description of drawings

The technical solutions and other beneficial effects of the present application will be apparent through the detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings.

1 is a schematic structural diagram of an embodiment of a construction machine provided by an embodiment of the present application;

Fig. 2 is the side view of construction machinery in Fig. 1;

FIG. 3 is a schematic structural diagram of an embodiment of a working device provided by an embodiment of the present application;

4 is a schematic structural diagram of an embodiment of an electric cylinder provided by an embodiment of the application;

5 is a schematic structural diagram of a first ball screw pair provided by an embodiment of the 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 of a circuit connection and a mechanical connection relationship between components of a construction machine provided in an embodiment of the present application.

Construction machinery 100; construction machinery body 110; traveling device 111; frame 1111; wheels 1112; support device 1113; arm 1131; flip arm 1132; bucket 1133; connecting part 1134; connecting rod 1135; electric cylinder assembly 114; first electric cylinder 1141; second electric cylinder 1142; first ball screw pair 1143; screw 1144; end cap 1145; nut 1146; ball 1147; second drive motor 1148; second ball screw pair 1149; third drive motor 1150; second encoder 1151; fourth drive motor 1152; first drive motor 1153; first control device 116; second control device 117; power distribution device 118; third control device 119; intelligent system 120; fourth control device 121; environment detection device 122; second ultrasonic radar 1223; camera 1224; The ultrasonic radar 1226; the navigation and positioning device 123; the satellite navigation component 1231; the inertial navigation component 1232; the state detection device 124;

Embodiments of the present invention

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc., or The positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation on this application. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In this application, unless otherwise expressly specified and defined, a first feature "on" or "under" a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the application. Furthermore, this application may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity, and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, this application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

An embodiment of the present application provides a construction machine, which includes a construction machine body, a power device and a first control device disposed on the construction machine body, and the first control device is used to control the power device to drive components of the construction machine body Electric power is provided to make each driving component drive the corresponding mechanism to move. The construction machine body, the power device and the first control device of the construction machine are described in detail below.

As shown in FIG. 1 , FIG. 2 and FIG. 7 , the construction machine body 110 may include a traveling device 111 and a working device 112 , and the traveling device 111 includes a frame 1111 . The frame 1111 is provided with wheels 1112 and a drive mechanism connected to the wheels 1112 . (not shown in the figure), the working device 112 includes a working module 113 connected with the frame 1111 , and an electric cylinder assembly 114 connected with 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 includes a generator set and a power storage device. The generator set is connected to the power storage device and supplies power to the power storage device; the generator set is connected to the power storage device. The drive mechanism is electrically connected to the electric cylinder assembly 114, the power storage device is also electrically connected to the drive mechanism and the electric cylinder assembly 114, and the first control device 116 is electrically connected to the drive mechanism, the electric cylinder assembly 114, the generator set and the power storage device. The control device 116 is used to control at least one of the generator set and the power storage device to supply power to the drive mechanism and the electric cylinder assembly 114 .

The construction machine 100 provided by the present application makes the power device 126 include a generator set and a power storage device. When the electrical energy generated by the generator set is greater than the power consumed by the electric cylinder assembly 114 and the driving mechanism, the excess power can be stored in the power storage device. , when the power storage device stores more electric energy, or the electric power required by the electric cylinder and the driving mechanism is larger, the first control device 116 can control the power storage device to supply power to the electric cylinder assembly 114 and the driving mechanism, thereby improving the power device 126 The energy utilization rate is improved, the energy consumption of the power device 126 is reduced, the exhaust gas amount emitted by the construction machinery 100 is reduced, and the energy saving and emission reduction of the construction machinery 100 is realized.

In some embodiments, the frame 1111 may be provided with a plurality of wheels 1112 , and the driving mechanism includes a plurality of first driving motors 1153 disposed on the frame 1111 , and a second driving motor 1153 electrically connected to the plurality of first driving motors 1153 . The control device 117, the plurality of first drive motors 1153 and the plurality of wheels 1112 are equal in number and are connected in one-to-one correspondence, when the first control device 116 controls at least one of the generator set and the power storage device to supply power to the drive mechanism, the first The second control device 117 can precisely control the number of rotations, the rotation speed and the rotation acceleration of each first driving motor 1153 by controlling the power supply provided by the power device 126 to each first driving motor 1153, thereby realizing Precise control of the number of revolutions, rotational speed and rotational acceleration of each wheel 1112 , thereby realizing precise control of the travel distance, travel speed and travel acceleration of the travel device 111 . The power supply amount may include power supply voltage, power supply current, power supply duration, 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. After the first control device 116 outputs the first control signal for controlling the traveling of the traveling device 111, the second control The device 117 receives the first control signal, and controls the power supply provided by the power device 126 to each of the first drive motors 1153 according to the first control signal, thereby realizing the driving distance, driving speed and driving acceleration of the driving device 111 precise control. The second control device 117 can be directly electrically connected to the generator set and the power storage device of the power device 126 , or can be indirectly electrically connected to the generator set and the power storage device of the power device 126 through the first control device 116 .

The number of wheels 1112 of the traveling device 111 is 4, the number of the first drive motors 1153 is also 4, and the 4 first drive motors 1153 are connected to the 4 wheels 1112 through the 4 speed reducers in one-to-one correspondence, and the second control device 117 is connected with 4 first drive motors 1153, by controlling the number of turns, rotational speed and rotational acceleration of the shafts of the 4 first drive motors 1153, the number of turns and rotational speed of the wheels 1112 can be controlled, and then the driving device can be precisely controlled 111's driving distance, driving speed and driving acceleration.

In some embodiments, the construction machine 100 may further include a first detection device (not shown in the figure) electrically connected to the second control device 117 , and the first detection device is used to perform the operation state of the first drive motor 1153 . Detect and output the 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 power generation according to the first state signal and the first control signal The amount of power supplied to the first drive motor 1153 by at least one of the unit and the power storage device.

By arranging the first detection device on the construction machine 100, the second control device 117 can determine the real-time working state of the first drive motor 1153 according to the first state signal output by the first detection device, so as to detect the real-time working state of the first drive motor 1153 in the generator set and the power storage device. At least one power supply amount provided to the first drive motor 1153 is adjusted in real time, so as to further improve the control accuracy of the number of rotations, the rotation speed and the rotation acceleration of the first drive motor 1153, thereby improving the driving distance and driving distance of the driving device 111. Speed and acceleration control accuracy.

Specifically, the first detection device may include a plurality of first encoders electrically connected to the plurality of first drive motors 1153 in a one-to-one correspondence, the plurality of first encoders are electrically connected to the second control device 117 , and the second control device 117 The first feedback signals of the plurality of first encoders are received, and the operating state of the traveling device 111 is determined according to the first feedback signals.

The operating state of the traveling device 111 may include traveling distance, traveling speed, and traveling acceleration. In addition, the first drive motor 1153 can be one of the types of motors commonly used at present, such as a servo motor, a stepping motor, etc.; the first encoder can be one of the types of encoders commonly used at present, such as an absolute value Encoders, incremental encoders, resolvers, etc. This embodiment does not limit the types of the first drive motor 1153 and the first encoder.

It can be understood that the first driving motor 1153 is generally connected to the wheel 1112 through a reducer. When the first driving motor 1153 rotates, it will drive the wheel 1112 to rotate, and the number of rotations, rotation speed and rotation acceleration of the first driving motor 1153 The ratio of the number of revolutions, the rotational speed and the rotational acceleration of the corresponding wheel 1112 is fixed. Therefore, after the number of revolutions, the rotational speed and the rotational acceleration of the first drive motor 1153 are determined, the number of revolutions, the rotational speed and the rotational acceleration of the wheel 1112 can be calculated. From the speed and rotational acceleration, the travel distance, travel speed, and travel acceleration of the travel device 111 are calculated.

After the first drive motor 1153 starts to work, the first encoder corresponding to the first drive motor 1153 starts to monitor the working state of the first drive motor 1153 in real time, and feeds back the monitored working state parameters to the second drive motor 1153. The working state of the control device 117 here may be the actual number of turns, the actual rotational speed, and the actual rotational acceleration of the first drive motor 1153 .

After the second control device 117 receives the feedback signal of the first encoder, it analyzes the feedback signal, and calculates the actual operating state of the traveling device 111 through relevant calculation and conversion. The actual operating state here may include the traveling device 111 actual driving distance, actual driving speed, actual driving acceleration, etc.

In some embodiments, as shown in FIG. 1 , the frame 1111 of the traveling device 111 may include a third electric cylinder (not shown in the figure), and a first frame 1115 and a second frame 1116 that are hinged with each other. The first frame 1115 and the second frame 1116 are respectively connected with wheels 1112, the working device 112 is connected with the first frame 1115, one end of the third electric cylinder is hinged with the first frame 1115, and the other end is connected with the second frame 1116 is hinged to drive the first frame 1115 to rotate relative to the second frame 1116 . Therefore, the traveling device 111 can precisely control the rotation angle of the first frame 1115 relative to the second frame 1116 by controlling the expansion and contraction of the third electric cylinder during the traveling process, thereby accurately controlling the traveling device 111 during traveling. the turning angle.

The third electric cylinder may include a lead screw hinged between the first frame 1115 and the second frame 1116, a fourth drive motor 1152 connected with the lead screw and driving the lead screw to extend and retract, and a lead screw connected to the fourth drive motor 1152 , the first control device 116 , the fifth control device 125 electrically connected to the generator set of the power device 126 and the power storage device, the fifth control device 125 is used to receive the output of the first control device 116 to make the traveling device 111 turn a preset angle and control the power supply provided by the power device 126 to the fourth drive motor 1152 according to the third control signal, thereby realizing precise control of the turning angle, turning speed and turning acceleration of the traveling device 111 . The fifth control device 125 can be directly electrically connected to the generator set and the power storage device of the power device 126 , or can be indirectly electrically connected to the generator set and the power storage device of the power device 126 through the first control device 116 .

Optionally, the construction machine 100 may further include a third detection device (not shown in the figure), the third detection device is used to detect the third electric cylinder and output a corresponding third signal; the fifth control device 125 The power unit 126 and the power unit 126 are respectively electrically connected to the third electric cylinder, and the fifth control unit 125 is configured to receive the third signal and control the power supply amount provided by the power unit 126 to the third electric cylinder according to the third signal. By setting the third detection device to detect the running state of the third electric cylinder, the third detection device transmits the detection result to the fifth control device 125 as a third signal. After receiving the third control signal, the fifth control device 125 can determine the current state of the third electric cylinder according to the third signal, and then perform more precise control on the amount of electricity provided by the electric power supply device to the third electric cylinder, so that the third electric cylinder The first frame 1115 is driven to rotate relative to the second frame 1116 by an accurate rotation preset angle.

The third detection device may include a fourth encoder electrically connected to the fourth drive motor 1152, the fourth encoder is electrically connected to the fifth control device 125, and the fifth control device 125 receives the fourth feedback from the fourth encoder signal, and according to the fourth feedback signal, the number of revolutions, the rotational speed and the rotational acceleration of the fourth driving motor 1152 are calculated, and then the rotation angle of the first frame 1115 relative to the second frame 1116 is determined.

In some embodiments, the number of the third electric cylinders may be two, and the two third electric cylinders are distributed on opposite sides of the hinge point of the first frame 1115 and the second frame 1116 to improve the third electric cylinder The force applied to the first frame 1115 and the second frame 1116 . Correspondingly, the third detection device includes two fourth encoders electrically connected to the fifth control device 125, and the two fourth encoders are electrically connected to the fourth drive motors 1152 of the two third electric cylinders to The state of the fourth drive motor 1152 is detected.

In some embodiments, as shown in FIGS. 1 to 3 , the working module 113 of the working device 112 may include a bucket 1133 , a turning arm 1132 and a lifting arm 1131 , wherein the bucket 1133 is used to realize loading and unloading of materials; turning The arm 1132 is used to load the material into the bucket 1133 or pour out the material from the bucket 1133. One end of the flip arm 1132 is hinged to the bucket 1133, and the other end is hinged to the first electric cylinder 1141; the lift arm 1131 is used to realize When the bucket 1133 is lifted or lowered, one end of the lift arm 1131 is hinged to the bucket 1133 , and the other end is hinged to the frame 1111 .

The electric cylinder assembly 114 of the working device 112 may include a first electric cylinder 1141 and a second electric cylinder 1142. The first electric cylinder 1141 is hinged between the turning arm 1132 and the frame 1111, and is used to drive the bucket 1133 to turn over through the turning arm 1132 ; The second electric cylinder 1142 is hinged between the lift arm 1131 and the frame 1111 for driving the bucket 1133 to rise or fall through the lift arm 1131 .

As shown in FIG. 4 , the first electric cylinder 1141 may include a first ball screw pair 1143 and a second drive motor 1148. One end of the first ball screw pair 1143 is hinged on the frame 1111, and the other end is connected to the turning arm 1132 away from At one end of the bucket 1133, the second drive motor 1148 is connected to the first ball screw pair 1143 and drives the first ball screw pair 1143 to operate; the second electric cylinder 1142 may include a second ball screw pair 1149 and a third drive Motor 1150, one end of the second ball screw pair 1149 is hinged on the frame 1111, the other end is connected to the middle of the lift arm 1131, the third driving motor 1150 is connected with the second ball screw pair 1149, and drives the second ball screw Vice 1149 operates.

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 1144 , an end The cover 1145, the nut 1146, the ball 1147, the end cover 1145 and the nut 1146 are sleeved on the screw 1144, and the screw 1144, the nut 1146 and the end cover 1145 are all provided with spiral grooves, and these grooves are combined to form the ball 1147 circulation A channel in which the balls 1147 roll cyclically. During operation, the nut 1146 is connected with the components that need to perform linear reciprocating motion. The rotation of the screw 1144 drives the nut 1146 to perform linear reciprocating motion, thereby driving the components to perform linear reciprocating motion.

The first electric cylinder 1141 and the second electric cylinder 1142 in the working device 112 both use a ball screw pair as the transmission pair, which is beneficial to reduce the driving torque of the transmission pair, so that the first electric cylinder 1141 drives the overturning arm 1132 to realize the overturning of the bucket 1133 And the second electric cylinder 1142 drives the lift arm 1131 to improve the transmission efficiency when the bucket 1133 is lifted or lowered. At the same time, due to the relatively small rolling friction, the first electric cylinder 1141 and the second electric cylinder 1142 have a large heat generation rate during operation. It is beneficial to improve the transmission efficiency.

In some embodiments, as shown in FIG. 3 , the number of the lift arms 1131 and the second electric cylinders 1142 is two, because the second ball screw pair 1149 has smooth operation, eliminates the axial clearance and makes Therefore, when a plurality of electric cylinders using a ball screw pair are used to drive the same device or a plurality of identical components, good synchronization performance can be obtained, and the working efficiency of the working device 112 is improved.

In some embodiments, the electric cylinder assembly 114 may further include a third control device 119 electrically connected to the first control device 116, and a second detection device (not shown in the figure) electrically connected to the third control device 119, The third control device 119 is electrically connected to the second drive motor 1148 , the third drive motor 1150 , as well as the generator set and the power storage device of the power device 126 , and the second detection device is used to detect the second drive motor 1148 and the third drive motor 1150 . The third control device 119 is used for receiving the second state signal and the second control signal output by the first control device 116 to control the operation of the working device 112, and according to the second control device 116 The status signal and the second control signal control the amount of power supplied to the second electric cylinder 1142 and the third electric cylinder by at least one of the generator set and the power storage device.

By setting the second detection device on the construction machine 100, the third control device 119 can determine the real-time working states 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 detect the generator set. The amount of power supplied to the second drive motor 1148 and the third drive motor 1150 by at least one of the power storage device and the power storage device is adjusted in real time, so as to further improve the number of rotations, the rotation speed and the speed of the second drive motor 1148 and the third drive motor 1150. The control precision of the rotational acceleration further improves the control precision of the rotational angle, rotational speed and rotational acceleration of the flip arm 1132 and the lift arm 1131 .

Specifically, the second detection device may include a second encoder 1151 electrically connected to the second drive motor 1148 (as shown in FIG. 4 ), and a third encoder electrically connected to the third drive motor 1150 , the second encoder The encoder 1151 and the third encoder are respectively electrically connected to the third control device 119, and the third control device 119 can receive the first sub-feedback signal of the second encoder 1151 and determine the operating state of the flip arm 1132 according to the first sub-feedback signal . Meanwhile, the third control device 119 may also receive the second sub-feedback signal fed back by the third encoder, and determine the operating state of the lift arm 1131 according to the second sub-feedback signal.

The operating state of the inversion arm 1132 may include the inversion angle, inversion speed and inversion acceleration of the inversion arm 1132 . The operating 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 drive motor 1148 and the third drive motor 1150 can be servo motors, stepping motors, etc., and the types of the second encoder 1151 and the third encoder can refer to the type of the first encoder described above, here No longer.

It can be understood that the second drive motor 1148 is generally connected to the first ball screw pair 1143 through a reducer. When the second drive motor 1148 rotates, it will drive the first ball screw pair 1143 to expand and contract, and the second drive motor 1148 The ratio of the number of rotations, rotation speed and rotation acceleration corresponding to the telescopic length, telescopic speed and telescopic acceleration of the first ball screw pair 1143 is fixed. Therefore, when the number of rotations, rotation speed and rotation acceleration of the second drive motor 1148 After determination, the telescopic length, telescopic speed and telescopic acceleration of the first ball screw pair 1143 can be calculated, and then the inversion, inversion speed and inversion acceleration of the inversion arm 1132 can be calculated.

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

After receiving the feedback signal from the second encoder 1151, the third control device 119 analyzes the feedback signal, and calculates the actual operating state of the flip arm 1132 through related operations and conversions. The actual operating state here may include the flip arm 1132's actual flip angle, actual flip speed, actual flip acceleration, etc.

The manner in which the third control device 119 determines the operation state of the lift arm 1131 according to the second sub-feedback signal is basically the same as the manner in which the control device determines the operation state of the flip arm 1132 according to the first sub-feedback signal, and will not be repeated here.

Specifically, as shown in FIG. 3 , the construction machine 100 is a loader, and the working module 113 of the working device 112 includes two lift arms 1131 , a flip arm 1132 and a bucket 1133 , and the two lift arms 1131 are arranged side by side, and One end of the two lift arms 1131 is hinged with the front end of the frame 1111, the other end of the two lift arms 1131 is hinged with the bucket 1133, the middle parts of the two lift arms 1131 are connected together by the connecting part 1134, and the The middle part is hinged with the connecting part 1134 , and one end of the turning arm 1132 is hinged with the bucket 1133 through the connecting rod 1135 .

One end of the first electric cylinder 1141 is hinged with the front end of the frame 1111, and the other end is hinged with the other end of the flip arm 1132. The number of the second electric cylinders 1142 is two, and the two second electric cylinders 1142 are located at the Below the two lift arms 1131 , one end of the two second electric cylinders 1142 is hinged with the front end of the frame 1111 , and the other ends of the two second electric cylinders 1142 are respectively connected to the lower part of the middle of the two lift arms 1131 . Hinged together.

In other embodiments, the construction machine 100 may also be an excavator, a bulldozer, etc. Different types of construction machines 100 also have different structures of the traveling device 111 and the working device 112 . For example: when the construction machine 100 is an excavator, the traveling device 111 of the construction machine 100 may include a chassis, a frame assembly, a central swivel joint, etc. disposed on the chassis, and the working device 112 may include a boom, and Buckets on the arm, etc.

In some embodiments, the generator set may include liquefied natural gas (Liquefied Natural Gas (LNG) engine, and a generator connected to the output end of the LNG engine, the LNG engine drives the crankshaft to rotate by burning LNG, and then the crankshaft drives the generator to rotate and generate electricity, and the electricity generated by the generator is in the control device. Under control, it is transmitted to the power storage device, the drive mechanism or the electric cylinder assembly 114 . Since the main component of LNG is methane, it not only releases a large amount of heat after combustion, but also the exhaust gas after combustion is mainly water and carbon dioxide, which pollutes the environment very little.

Wherein, the power unit 126 also includes a liquid storage tank supported on the frame 1111, and LNG is stored in the liquid storage tank, and the outlet of the liquid storage tank is connected to the LNG engine through a pipeline, so as to provide the LNG engine with LNG .

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

The power storage device can be a super capacitor, lithium battery, lead battery, etc. In addition to being charged by the generator set, the power storage device can also be provided with a plug electrically connected to the power storage device on the driving device 111, and the plug is used to connect with the market. It is electrically connected to charge the power storage device through the commercial power, thereby reducing the use of fuel and further improving the energy saving and environmental protection effect of construction machinery.

In some embodiments, as shown in FIG. 6 , the construction machine 100 may further include an intelligent system 120 , and the intelligent system 120 is used to acquire the surrounding environment of the construction machine 100 and control the automatic operation of the construction machine 100 according to the surrounding environment of the construction machine 100 , so as to realize the long-term operation of the construction machine 100, improve the use efficiency of the construction machine 100, and prevent the working environment of the construction machine 100 from affecting the physical and mental health of the 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 and positioning device 123 , and an environment detection device 122 electrically connected to the fourth control device 121 . The state detection device 124; the environment detection device 122 is used to collect the environmental information of the construction machinery 100, and transmit the environmental information to the fourth control device 121, and the fourth control device 121 determines the environment around the construction machinery 100 according to the environmental information; the navigation and positioning device 123 is used to detect the 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 to detect the driving device 111 and the working state information of the device 112, and transmit the state information to the fourth control device 121, the state detection device 124 may include the above-mentioned first detection device and second detection device, and the fourth control device 121 determines the driving mechanism and the electric cylinder according to the state information The operation state of the assembly 114; the fourth control device 121 is used to receive the operation instruction, and according to the operation instruction, the surrounding environment of the construction machine 100, the position of the construction machine 100 and the operation state of the drive mechanism and the electric cylinder assembly 114, output the corresponding first Three control signals are sent to the first control device 116, so that the first control device 116 controls at least one of the generator set and the power storage device to supply power to the drive mechanism and the electric cylinder assembly.

The construction machinery 100 provided in the embodiment of the present application collects the environmental information of the construction machinery 100 through the environmental detection device 122, detects the position information of the construction machinery 100 through the navigation and positioning device 123, and then transmits the environmental information and position information of the construction machinery 100 to the first Fourth control device 121, the fourth control device 121 determines the surrounding environment of the construction machine 100 and the position of the construction machine 100 according to the information; after that, the fourth control device 121 determines the driving mechanism and the driving mechanism of the construction machine 100 through the state detection device 124. The operating state of the electric cylinder assembly 114, and output corresponding control signals according to the current operating state 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 is in the surrounding environment. Automatic work in the environment of the construction machine 100, so as to realize the automatic operation of the construction machine 100, so that the construction machine 100 does not need the operator to operate on the spot, 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 working environment detection module is used to collect the working environment information of the construction machine 100, and transmit the working environment information to the first control module of the fourth control device 121; the obstacle detection module is used to collect the obstacle information around the construction machine 100, and The obstacle information is transmitted to the first control module of the fourth control device 121 ; the first control module determines the surrounding environment of the construction machine 100 according to the working environment information and the obstacle information.

The environment detection device 122 provided in this 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. The control module determines the work environment and obstacles around the construction machine 100 according to the work environment information and the obstacle information, and uses the work environment and obstacles around the construction machine 100 as the surrounding environment of the construction machine 100, so that the intelligent system 120 can control the project The traveling device 111 of the machine 100 can automatically travel and avoid obstacles in the work environment.

In some embodiments, the first control module of the fourth control device 121, the working environment detection module and the obstacle detection module can all be connected through a controller area network (Controller Area Network). Area Network, CAN) is connected, wherein, CAN belongs to bus type serial communication network, CAN bus structure is generally divided into two layers: physical layer and data link layer (including logical link control sublayer and media access control sublayer), Because the controller area network communication mode has the advantages of reliability, real-time and flexibility, CAN communication is adopted between the working environment monitoring systems of the construction machinery 100, so that the communication between the various components of the working environment monitoring system is more stable and reliable.

In some embodiments, the working environment detection module may include a 3D map construction component electrically connected to the first control module of the fourth control device 121, the 3D map construction component is used to collect 3D terrain information of the working environment of the construction machine 100, and The 3D terrain information is transmitted to the first control module, and then the first control module determines a 3D map of the working environment of the construction machine 100 according to the received 3D terrain information. After the first control module determines the 3D map around the construction machine 100 through the 3D map construction component, it can effectively plan a suitable driving route according to the 3D map, and control the driving device 111 to travel according to the driving route.

Specifically, the 3D map construction component may include a lidar group (not shown in the figure) and a camera group (not shown in the figure) electrically connected to the first control module, and the lidar group and the camera group are provided on the traveling device 111 The top of the lidar group is used to scan the distance information and angle information of the surrounding environmental objects of the construction machinery 100, and transmit the distance information and angle information to the first control module; the camera group is used to collect the image information of the surrounding environmental objects of the construction machinery 100 , and transmit the image information to the first control module; the first control module determines the 3D map of the working environment of the construction machine 100 according to the distance information, the angle information and the image information. Since the top of the construction machine 100 has few obstacles and a high height, a wide field of view is provided for the lidar group and the camera group, which reduces the blind area of the field of vision, thereby effectively improving the imaging effect.

The objects in the surrounding environment of the construction machine 100 refer to objects such as trees and soil slopes in the surrounding environment of the construction machine 100 . Because the lidar group has the advantages of high spatial resolution and high ranging accuracy, it can accurately detect the position and shape of objects in the surrounding environment of the construction machinery 100 . The image information of the objects in the surrounding environment of the construction machine 100 collected by the camera group can accurately identify the types of objects in the surrounding environment of the construction machine 100. Therefore, the first control module in this application uses the objects collected by the lidar group. The distance information and angle information obtained from the camera group and the image information collected by the camera group can be gathered together, and a 3D topographic map of the working environment of the construction machinery 100 can be constructed more accurately.

In some embodiments, as shown in FIG. 1 and FIG. 2 , a liftable supporting device 1113 is provided on the top of the construction machine 100 , a pan/tilt 1114 is provided above the supporting device 1113 , and a lidar group and a camera group are provided On the pan/tilt 1114, the pan/tilt 1114 has a shock absorption function, and the liftable support device 1113 is electrically controlled. The construction machine 100 can adjust the height of the liftable support device 1113 according to requirements, thereby adjusting the lidar group and The height of the camera group to 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 emits a laser beam to detect the position, velocity and other characteristic quantities of the target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal (target echo) reflected from the target with the transmitted signal, and after proper processing, the relevant information of the target can be obtained, such as Target distance, azimuth, altitude, speed, attitude, and even shape and other parameters, the working principle of lidar is very similar to that of radar, using laser as the signal source, the pulsed laser emitted by the laser hits trees, roads, bridges and trees on the ground. On the building, scattering is caused, and part of the light wave will be reflected on the receiver of the lidar. According to the principle of laser ranging, the distance from the lidar to the target point can be obtained. The pulsed laser continuously scans the target, and the target can be obtained. After the data of all the target points on the target point is used for imaging processing, an accurate three-dimensional stereo image can be obtained. The camera group may generally include a plurality of cameras, and the plurality of cameras may be 3 or 5, and the specific number thereof 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, the working medium sensing component is used to detect the distance information of the working medium, and transmit the distance information to the first control module, the first control module The module determines the 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 process the working medium. Among them, the working medium refers to the working object of the construction machine 100. The type of the construction machine 100 may vary depending on the type of the working medium. For example, when the construction machine 100 is a loader, the working medium includes stones, mounds, etc. , when the construction machine 100 is a bulldozer, the working medium is a mound or other structures.

In some embodiments, as shown in FIG. 1 , the working medium sensing component may include a second ultrasonic radar 1223 disposed on the front side of the construction machine 100 , and the second ultrasonic radar 1223 is used to detect distance information of the working medium. By arranging 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, so that the position and state of the construction machine 100 can be adjusted according to the position information of the working medium. The construction machine 100 is automatically moved to the vicinity of the work medium and the work medium is processed.

Further, the second ultrasonic radars 1223 can also be added to the rear and both sides of the construction machinery 100, that is, the number of the second ultrasonic radars 1223 is multiple and distributed around the construction machinery 100, so that it can be comprehensively The information related to the working medium around the construction machine 100 can be obtained by the method, and then the obtained information about the working medium around the construction machine 100 can be sent to the first control module, and the first control module can be used. The terrain information is combined to plan the operation path, thereby optimizing the operation efficiency.

It should be noted that the above-mentioned operating environment detection module may include both a 3D map construction component and an operation medium sensing component, or only one of the two, which may be determined according to the actual use environment of the construction machine 100 . For example: in the actual application process of the construction machine 100, if the working environment of the construction machine 100 is known and fixed, the 3D terrain of the working environment can be constructed in advance to obtain the 3D terrain information of the current working environment. 100 During the operation, the 3D map can be directly transmitted to the first control module without additionally setting the 3D map construction component. Similarly, in the actual application process of the construction machine 100, if the position of the working medium is known, the construction machine 100 can directly transmit the relevant information of the working medium to the first control module during the operation, without the need for additional settings. Job Media Awareness 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 construction machinery 100 , and the plurality of cameras 1224 are used to collect the construction machinery 100 The image information of the surrounding obstacles is transmitted, and the image information of the obstacles is transmitted to the first control module, and the first control module determines the distance, type and shape of the obstacles around the construction machine 100 according to the image information of the obstacles. Since the construction machine 100 is widely used in construction engineering, transportation, agriculture, forestry and water conservancy and other fields, its actual operating environment is different when used in different fields. Various building materials may be stored nearby. For example, when applied to agriculture, forestry and water conservancy, the surrounding environment may be potholes, surrounding or pond farmland, and the corresponding obstacles in different application scenarios are also different. Therefore, it is particularly important to accurately identify obstacles. In this embodiment, by arranging multiple cameras 1224 at intervals on the front and rear of the construction machine 100 and its side body, the real-shot images around the construction machine 100 can be obtained in all directions, which greatly improves the The detection range of obstacles reduces the collision probability between the construction machinery 100 and obstacles.

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 construction machine 100 . The plurality of millimeter-wave radars 1225 are used for Detect the distance, position and motion status of obstacles around the construction machinery 100. The construction machinery 100 will generate a large amount of gray layers in the actual operation project. When the amount of gray layers reaches a certain level, the functions of the visual sensing devices such as the camera group on the construction machinery 100 will be affected. Millimeter wave radar 1225, using the millimeter wave radar 1225's strong ability to penetrate fog, smoke, dust and strong anti-interference ability, effectively improves the collision avoidance and obstacle avoidance in special situations, thereby improving the intelligent operation of construction machinery 100. safety.

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 construction machine 100 . The plurality of first ultrasonic radars 1226 It is used to detect the distance and position of obstacles around the construction machine 100 . Because the first ultrasonic radar 1226 has the characteristics of strong penetrating ability, small attenuation, strong reflection ability, insensitivity to light, color, and electromagnetic field, and not easily affected by bad weather, etc., it can effectively detect the obstacles around the construction machinery 100. Detection, avoid being affected by dust, light, etc., so as to improve the safety of intelligent operation of construction machinery 100. The first ultrasonic radar 1226 and the second ultrasonic radar 1223 may be the same ultrasonic radar or different ultrasonic radars. Of course, the former can reduce the cost of the construction machine 100 .

It should be noted that the obstacle detection module in this application may include both the millimeter-wave radar 1225 and the first ultrasonic radar 1226, or only one of the millimeter-wave radar 1225 and the first ultrasonic radar 1226. Of course, the former can pass The millimeter-wave radar 1225 detects obstacles within a range of 200 meters, and detects close-range obstacles through the first ultrasonic radar 1226 , so as to more accurately detect obstacles near the construction machinery 100 .

In addition, the number of the first control modules in this application may be one or more, for example: the number of the first control modules may be one, the laser radar group, the camera group and the second ultrasonic radar 1223 of the working environment detection module, Sensors such as 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 more than one, the lidar 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 of the obstacle detection module Sensors such as the radar 1226 are each electrically connected to different first control modules.

In some embodiments, the fourth control device 121 may include a second control module, the navigation and positioning device 123 may include a navigation module disposed on the construction machine body 110, the navigation module is electrically connected to the second control module, and the navigation module is used for The position information of the construction machine 100 is collected, and the position information is sent to the second control module, so that the second control module determines the position of the construction 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 .

Wherein, 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 component 1231 is used for satellite navigation The signal locates the construction machine 100, and outputs the corresponding first positioning signal to the fourth control device 121; the inertial navigation is used to detect the operating state of the construction machine 100, locate the construction machine 100 according to the operating state, and output the corresponding first positioning signal. The second positioning signal is sent to the second control module; the visual odometer component is used to detect the surrounding environmental change information during the movement of the construction machine 100, locate the construction machine 100 according to the environmental change information, and output the corresponding third positioning signal to the second Control module; the second control module determines the position of the construction machine 100 according to at least one of the first positioning signal, the second positioning signal and the third positioning signal, and the environment information collected by the environment detection device 122 .

The satellite navigation component 1231 has the advantages of low cost and accurate positioning. However, since satellite navigation is a passive positioning, satellite signals are easily affected by the external environment. In complex urban high-density areas, the propagation of satellite signals is blocked or the signal It is reflected and diffracted, which causes the signal received by the receiver to be deviated during the position calculation, so that the accuracy is far from the requirement.

The inertial navigation component 1232 is a navigation component that calculates position according to three-dimensional dead reckoning, and the hardware part includes an inertial sensor and a navigation processor, wherein the inertial sensor includes an accelerometer and a gyroscope. The inertial navigation component 1232 is installed on the driving device 111 of the construction machine body 110, and is connected with the operation controller signal. Provides high computational accuracy in a short period of time. However, with the growth of time, there will be a relatively large accumulation of errors. The accumulated error of speed is proportional to time, and the error of position is accumulated with the square of time. Therefore, inertial navigation needs to integrate other navigation systems to ensure the long-term stability of the system.

The visual odometry component uses a camera to perform relative positioning according to the surrounding environment in the movement of the construction machine 100, and mainly uses a binocular camera.

In the present application, by making the navigation module include the satellite navigation component 1231, the inertial navigation component 1232 and the visual odometer component at the same time, when there is a satellite navigation signal, the positioning can be mainly performed through the satellite navigation component 1231. At the same time, the inertial navigation component 1232 and The visual mileage component can assist in positioning or not; when there is no satellite navigation signal, the inertial navigation component 1232 and the visual mileage component can be combined to locate the construction machine 100, so that the construction machine 100 can be used in different situations. can be positioned.

FIG. 7 is a diagram of a circuit connection and a mechanical connection relationship between components of a construction machine provided in an embodiment of the present application. As shown in FIG. 7 , the four wheels 1112 of the construction machine 100 are the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, and each wheel 1112 is connected to a single first drive motor 1153, so that the four The first drive motor 1153 drives the four wheels 1112 to rotate; the engine is connected to the generator and drives the generator to rotate, so that the generator can generate electricity; the second drive motor 1148 and the third drive motor 1150 are respectively connected with the first ball screw pair 1143 It is connected with the second ball screw pair 1149 to drive the first ball screw pair 1143 and the second ball screw pair 1149 to rotate.

The construction machine 100 further includes a power distribution device 118, and the power distribution device 118 is electrically connected to the power device 126, the first control device 116, the second control device 117, the third control device 119, and the fifth control device 125, respectively. The device 116 controls the power device 126 to supply power to the electric cylinder assembly 114 , the first drive motor 1153 and the fourth drive motor 1152 through the power distribution device 118 .

The power distribution device 118 may include a rectifier, a power converter, etc. The power distribution device 118 converts the alternating current generated by the generator set into direct current through the rectifier to charge the power storage device, and realizes the storage through the power converter, inverter, etc. The electrical device supplies power to each drive motor.

It should be noted that the above-mentioned electrical connection may include both electrical energy connection and signal connection, that is, after the two components are electrically connected, both electrical energy and electrical signals can be transmitted between the two components. It depends on the actual situation and is not limited here. In addition, the point connection may include direct electrical connection and indirect electrical connection, as long as electrical signals or power can be transmitted between two electrically connected devices.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

The construction machinery provided by the embodiments of the present application has been described in detail above. The principles and implementations of the present application are described in this paper by using specific examples. The descriptions of the above embodiments are only used to help understand the technical solutions of the present application. and its core idea; those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these modifications or replacements do not make the corresponding The essence of the technical solutions deviates from the scope of the technical solutions of the embodiments of the present application.

Claims

A construction machine, wherein the construction machine comprises:

a traveling device, including a vehicle frame on which wheels and a driving mechanism connected to the wheels are arranged;

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

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

a first control device, provided on the vehicle frame, the first control device is electrically connected to the drive mechanism, the electric cylinder assembly, the generator set and the power storage device, the first control device for controlling at least one of the generator set and the power storage device to supply power to the drive mechanism and the electric cylinder assembly.
The construction machine of claim 1, wherein the generator set comprises an LNG engine and a generator connected to an output end of the LNG engine.
The construction machine according to claim 2, wherein the power unit further comprises a liquid storage tank supported on the frame, and an outlet of the liquid storage tank is connected to the LNG engine through a pipeline.
The construction machine according to claim 1, wherein the first control device is configured to control the generator set to move to a direction when the output power of the generator set is greater than the load power of the driving mechanism and the electric cylinder assembly. The power storage device is charged.
The construction machine according to claim 1, wherein the first control device is configured to control the power storage device when the output power of the generator set is smaller than the load power of the drive mechanism and the electric cylinder assembly Power is supplied to the drive mechanism and the electric cylinder assembly.
The construction machine according to claim 1, wherein a plurality of wheels are arranged on the frame, and the driving mechanism comprises a plurality of first driving motors arranged on the frame, and a plurality of first driving motors arranged on the frame, A second control device electrically connected to a driving motor, the plurality of first driving motors and the plurality of wheels are equal in number and are connected in a one-to-one correspondence.
The construction machine according to claim 6, wherein the second control device is electrically connected to the generator set, the power storage device, and the first control device, and the construction machine further includes a connection with the second control device. a first detection device electrically connected to the control device, the first detection device is used to detect the running state of the first drive motor and output a corresponding first state signal;

The second control device is configured to receive the first state signal and the first control signal output by the first control device, and control the generator set and the generator set according to the first state signal and the first control signal. An amount of power supplied by at least one of the power storage devices to the first drive motor.
The construction machine according to claim 7, wherein the first detection device comprises a plurality of first encoders electrically connected to the plurality of first drive motors in a one-to-one correspondence, and the plurality of first encoders are connected to The second control device is electrically connected, and the second control device receives the first feedback signals of the plurality of first encoders, and determines the operating state of the traveling device according to the first feedback signals.
The construction machine of claim 1, wherein the working module comprises a bucket, a turning arm and a lifting arm, the electric cylinder assembly comprises a first electric cylinder and a second electric cylinder, and one end of the turning arm is hinged On the bucket, the other end is hinged to the first electric cylinder; one end of the lift arm is hinged to the bucket, and the other end is hinged to the frame;

The first electric cylinder includes a first ball screw pair and a second drive motor, one end of the first ball screw pair is hinged on the frame, and the other end is connected to the end of the turning arm away from the bucket, the second drive motor is connected with the first ball screw pair and drives the first ball screw pair to operate;

The second electric cylinder includes a second ball screw pair and a third drive motor. One end of the second ball screw pair is hinged to the frame, and the other end is connected to the middle of the lift arm. Three driving motors are connected with the second ball screw pair and drive the second ball screw pair to operate.
The construction machine of claim 9, wherein the electric cylinder assembly further comprises 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 is electrically connected to the generator set, the power storage device, the second drive motor and the third drive motor, and the second detection device is used for monitoring the second drive motor and the third drive motor. The operating state of the third drive motor is detected, and a corresponding second state signal is output;

The third control device is configured to receive the second state signal and the second control signal output by the first control device, and control the generator set and the generator set according to the second state signal and the second control signal. The amount of power supplied by at least one of the power storage devices to the first electric cylinder and the second electric cylinder.
The construction machine of claim 10, wherein the second detection device comprises a second encoder electrically connected to the second drive motor, the second encoder is electrically connected to the third control device, The third control device is configured to receive the first sub-feedback signal of the second encoder, and determine the operating state of the flip arm according to the first sub-feedback signal.
The construction machine of claim 10, wherein the second detection device comprises a third encoder electrically connected to the third drive motor, the third encoder is electrically connected to the third control device, The third control device is configured to receive a second sub-feedback signal fed back by the third encoder, and determine the operating state of the lift arm according to the second sub-feedback signal.
The construction machine according to claim 9, wherein the second driving motor comprises a servo motor or a stepping motor; the third driving motor comprises a servo motor or a stepping motor.
The construction machine according to claim 9, wherein the working module comprises two lifting arms, the two lifting arms are arranged side by side, and one end of the two lifting arms is connected to the front end of the frame Hinged, the other ends of the two lifting arms are hinged with the bucket, and the middle parts of the two lifting arms are connected together by a connecting part.
The construction machine of claim 14, wherein the middle part of the turning arm is hinged with the connecting part.
The construction machine according to claim 1, wherein the frame of the traveling device comprises a third electric cylinder, and a first frame and a second frame hinged to each other, the first frame and the second frame The wheels are respectively connected to the frame, the working device is connected to the first frame, one end of the third electric cylinder is hinged with the first frame, and the other end is hinged with the second frame , so as to drive the first frame to rotate relative to the second frame.
The construction machine of claim 16, wherein the third electric cylinder comprises a lead screw hinged between the first frame and the second frame, connected with the lead screw and driving the lead screw a fourth drive motor for retracting the lead screw, and a fifth control device electrically connected to the fourth drive motor, the first control device, the generator set of the power plant, and the power storage device, the fifth control device for receiving a third control signal output by the first control device to make the traveling device turn a preset angle, and according to the third control signal, the power supply provided by the power device to the fourth drive motor Take control.
The construction machine according to claim 16, wherein the number of the third electric cylinders can be two, and the two third electric cylinders are distributed on the first frame and the second frame to be hinged opposite sides of the point.
The construction machine of claim 1, wherein the construction machine comprises a fourth control device electrically connected to the driving mechanism, the electric cylinder assembly and the first control device, and the fourth control device An environment detection device, a navigation and positioning device and a state detection device to which the device is electrically connected;

The environment detection device is used to collect the environmental information of the construction machinery, and transmit the environmental information to the fourth control device, and the fourth control device determines the environment around the construction machinery according to the environmental information ;

The navigation and positioning device is used to detect the position information of the construction machine, and transmit the position information to the fourth control device, and the fourth control device determines the position of the construction machine according to the position information;

The state detection device is used to detect the state information of the driving mechanism and the electric cylinder assembly, and transmit the state information to the fourth control device, and the fourth control device determines the state information according to the state information. the operating state of the drive mechanism and the electric cylinder assembly;

The fourth control device is used for receiving an operation instruction, and according to the operation instruction, the surrounding environment of the construction machine, the position of the construction machine, and the operating state of the drive mechanism and the electric cylinder assembly, output corresponding The third control signal is sent to the first control device, so that the first control device controls at least one of the generator set and the power storage device to supply power to the driving mechanism and the electric cylinder assembly.
The construction machine according to claim 19, wherein 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, and the control device Wirelessly connected with the fourth control device, the fourth control device transmits the surrounding environment of the construction machine, the position of the construction machine, and the operating state of the drive mechanism and the electric cylinder assembly through the control device The control device is further configured to receive the operation instruction output by the VR integrated equipment, and transmit the operation instruction to the first VR integrated device. Four controls.