阅读说明：本技术 混合动力车辆作业机械 (Hybrid vehicle work machine ) 是由 T·奥尔松 于 2019-02-21 设计创作，主要内容包括：本公开涉及一种车辆作业机械(10),其包括：第一电动机装置(31),其包括一个或多个电动机(21、21’)；以及第二电动机装置(32),其包括与第一电动机装置(31)的所述一个或多个电动机(21、21’)分开的一个或多个电动机(22、22’)。车辆作业机械(10)还包括适于连接至外部电力源(17)的动力连接部(8)、能量存储装置(23)和适于为包括在车辆作业机械(10)中的液压设备(5、18、19、20)提供动力的液压泵组件(24)。每个电动机装置(31、32)中的至少一个电动机(21、21’；22、22’)适于推动液压泵组件(24)。第一电动机装置(31)中的所述一个或多个电动机(21、21’)布置成从外部电力源(17)供电,并且第二电动机装置(32)中的所述一个或多个电动机(22、22’)布置成从能量存储装置(23)供电。(The present disclosure relates to a vehicle working machine (10), comprising: a first motor arrangement (31) comprising one or more electric motors (21, 21'); and a second motor arrangement (32) comprising one or more electric motors (22, 22') separate from the one or more electric motors (21, 21') of the first motor arrangement (31). The vehicle working machine (10) further comprises a power connection (8) adapted to be connected to an external electric power source (17), an energy storage device (23), and a hydraulic pump assembly (24) adapted to power hydraulic equipment (5, 18, 19, 20) comprised in the vehicle working machine (10). At least one electric motor (21, 21 '; 22, 22') in each electric motor arrangement (31, 32) is adapted to propel the hydraulic pump assembly (24). The one or more electric motors (21, 21 ') in the first motor arrangement (31) are arranged to be powered from an external electric power source (17), and the one or more electric motors (22, 22') in the second motor arrangement (32) are arranged to be powered from an energy storage arrangement (23).)

1. A vehicle work machine (10), comprising: a first motor arrangement (31) comprising one or more electric motors (21, 21'); and a second motor arrangement (32) comprising one or more electric motors (22, 22') separate from the one or more electric motors (21, 21') of the first motor arrangement (31), wherein the vehicle working machine (10) further comprises a power connection (8) adapted to be connected to an external electric power source (17), an energy storage arrangement (23) and a hydraulic pump assembly (24) adapted to power hydraulic equipment (5, 18, 19, 20) comprised in the vehicle working machine (10), wherein at least one electric motor (21, 21 '; 22, 22') of each motor arrangement (31, 32) is adapted to propel the hydraulic pump assembly (24), characterized in that the one or more electric motors (21, 21 ') of the first motor arrangement (31) are arranged to be powered from the external electric power source (17) and the one or more electric motors (22, 22') of the second motor arrangement (32) are arranged to be powered from the external electric power source (17), and, 22') is arranged to be powered from an energy storage device (23).

2. A vehicle working machine (10) according to claim 1, characterized in that the one or more electric motors (21, 21 ') in the first motor arrangement (31) are arranged to be supplied mainly from an external electric power source (17), and the one or more electric motors (22, 22') in the second motor arrangement (32) are arranged to be supplied mainly from an energy storage arrangement (23).

3. Vehicle working machine (10) according to any of claims 1 or 2, characterized in that the vehicle working machine (10) is adapted to a charging mode of operation, wherein the first motor means (31) is adapted to propel the second motor means (32) and to operate the second motor means (32) as a generator, which generator is adapted to charge the energy storage means (23).

4. A vehicle working machine (10) according to claim 3, characterized in that in the charging mode of operation the first motor means (31) also pushes the hydraulic pump assembly (24).

5. A vehicular working machine (10) according to any of claims 2-4, characterized in that the energy storage device (23) is connected to the second motor means (32) via a motor driver assembly (25) adapted to convert the voltage provided by the energy storage device (23) into a suitable voltage for the second motor means (32).

6. A vehicle working machine (10) according to claim 5, characterized in that the motor drive assembly (25) is adapted to control the ratio of the power provided from the energy storage device (23) in dependence of the power available from the external electric power source (17) and the power required by the hydraulic pump assembly (24).

7. A vehicular working machine (10) according to any of claims 5 or 6, wherein the motor drive assembly (25) is adapted to function as a charger in a charging mode of operation.

8. The vehicle work machine (10) of claim 7, wherein the first motor drive assembly (25) is adapted to control the charge rate of the energy storage device (23) as a function of the available power from the external electrical power source (7) and the power required by the hydraulic pump assembly (24).

9. The vehicle work machine (10) according to any one of the preceding claims, characterized in that the vehicle work machine (10) is adapted to:

a first mode of operation in which only the first motor means (31) push the hydraulic pump assembly (24),

-a second operation mode, in which only the second motor means (32) push the hydraulic pump assembly (24), and

-a third operating mode, in which both electric motor means (31, 32) propel the hydraulic pump assembly (24).

10. Vehicle working machine (10) according to claim 9, characterized in that the third operation mode comprises at least one of the following sub-operation modes:

-a start-up mode, in which the second motor means (32) is adapted to run the first motor means (31) before powering the first motor means from the external electric power source (17);

-a common drive mode, wherein both electric motor means (31, 32) are adapted to propel the hydraulic pump assembly (24).

11. Vehicle working machine (10) according to any of the preceding claims, characterized in that the vehicle working machine (10) comprises a single-phase battery charger (28) connectable to an external power source (17) through a charger contactor (29).

12. Vehicle working machine (10) according to any of the preceding claims, characterised in that the first motor arrangement (31) comprises one or more asynchronous motors (21, 21').

13. A method for a vehicular work machine (10) having an energy storage device (23), a first motor arrangement (31) using one or more electric motors (21, 21 '), and a second motor arrangement (32) using one or more electric motors (22, 22'), wherein the method comprises:

providing power (101) from an external power source (17) to a first motor arrangement (31); and

power (102) is provided to the second motor means (32) from the energy storage means (23).

14. Method according to claim 13, characterized in that in the charging mode of operation the first motor means (31) is used to operate the second motor means (32) as a generator for charging the energy storage device (23).

15. A method according to any one of claims 13 or 14, wherein in a first operating mode the method comprises using only the first motor means (31) for propelling the hydraulic pump assembly (24) for use in the vehicle working machine (10), in a second operating mode the method comprises using only the second motor means (32) for propelling the hydraulic pump assembly (24), and in a third operating mode the method uses both motor means (31, 32) for propelling the hydraulic pump assembly (24).

16. The method of claim 15, wherein the third mode of operation comprises at least one of the following sub-modes of operation:

-a start-up mode, in which the second motor means (32) is used to propel the first motor means (31) before powering the first motor means from the external electric power source (17);

-a common drive mode, wherein both electric motor means (31, 32) are used for propelling the hydraulic pump assembly (24).

Technical Field

The present disclosure relates to a vehicle work machine that includes a first motor arrangement having one or more electric motors, a second motor arrangement having one or more electric motors. The vehicle work machine further comprises a power connection adapted to be connected to an external electric power source, an energy storage device and a hydraulic pump assembly adapted to power hydraulic equipment.

Background

A machine, called a demolition robot, is a remotely operated work machine for different demolition operations, where an operator walks alongside the machine and controls different movements of the machine. The operator controls using a remote control with two rods and a series of different buttons and knobs. The machine is used in several different modes of operation. The machine is first moved up to a work surface to be demolished, such as a wall. The supporting feet of the machine are then lowered so that the machine stands smoothly. The actual demolition operation then begins.

The demolition robot may be powered by electricity and then powered from a stationary power grid through a power cable. Electrical energy is converted into hydraulic energy by means of an electric pump device, which hydraulic energy, in the form of hydraulic medium under pressure, is led through valves to various movable units of the working machine. The electric motors used to drive the pump equipment of the work machine are typically of the three-phase, low-voltage type, rated at 380-500V and at a frequency of 50 or 60 Hz.

For work machines, it has been proposed to use batteries alone or in addition to the stationary grid for the work machine.

In EP 2738035, there is a mining vehicle having one electric motor for operating a hydraulic pump and another electric motor for moving the mining vehicle. Each motor may be powered by an external power grid or a battery power source, and the battery power source may be charged when the power supplied to the motor is provided only from the external power grid.

However, charging the battery from the three-phase power grid requires expensive corresponding charging equipment and usually requires connection to the neutral line. For many normal situations, charging using only one phase with a conventional charger is not sufficient.

It is therefore desirable to provide an electric working machine equipped to be connected to both an external power source, such as an electric power grid, and an internal power source, such as a battery, wherein sufficient operation is maintained regardless of which power source is used for normal working conditions, and a separate battery charger is not required.

Disclosure of Invention

One object of the present disclosure relates to providing an electric working machine equipped to be connected to both an external power source, such as an electric power grid, and an internal power source, such as a battery, wherein sufficient operation is maintained regardless of which power source is used for normal working conditions.

This object is achieved by a vehicle working machine comprising: a first motor arrangement comprising one or more electric motors; and a second motor arrangement comprising one or more motors separate from the one or more motors of the first motor arrangement. The vehicle working machine further comprises a power connection adapted to be connected to an external electric power source, an energy storage device and a hydraulic pump assembly adapted to power hydraulic equipment comprised in the vehicle working machine. At least one electric motor in each motor unit is adapted to propel the hydraulic pump assembly. The one or more electric motors in the first motor arrangement are arranged to be powered from an external power source, while the one or more electric motors in the second motor arrangement are arranged to be powered from an energy storage device.

This provides the advantage of being able to provide a differentiated power source for the electric motors driving the common hydraulic pump assemblies in the vehicle work machine. In this way, it is possible to maintain sufficient operation regardless of which power source is used for normal working conditions, so that the vehicle working machine can be widely used.

According to some aspects, the vehicle working machine is adapted to a charging mode of operation, wherein the first motor means is adapted to propel the second motor means and operate the second motor means as a generator adapted to charge the energy storage device.

This provides the advantage of avoiding the need for a separate charger.

According to some aspects, in the charging mode of operation, the first motor means also propels the hydraulic pump assembly.

This provides the advantage of being able to operate the vehicle work machine during charging.

According to some aspects, the energy storage device is connected to the second motor device via a motor driver assembly adapted to convert a voltage provided by the energy storage device to an appropriate voltage for the second motor device. For example, the motor drive assembly is adapted to control the ratio of power supplied from the energy storage device (rate of power) based on the power available from the external power source and the power required by the hydraulic pump assembly.

This provides the advantage of using the available power in an efficient manner.

According to some aspects, the motor drive assembly is adapted to function as a charger in a charging mode.

This provides the advantage of using one member for a different purpose.

According to some aspects, the first motor driver assembly is adapted to control a charge rate of the energy storage device as a function of available power from the external power source and power required by the hydraulic pump assembly.

This provides the advantage that the energy storage device is charged in an efficient manner.

According to some aspects, the vehicle working machine is adapted to:

-a first operating mode, in which only the first electric motor means propel the hydraulic pump assembly.

-a second operating mode, in which only the second electric motor means propel the hydraulic pump assembly.

-a third operating mode, in which both electric motor means propel the hydraulic pump assembly.

This provides the advantage of providing a versatile propulsion of the hydraulic pump assembly, so that the motor arrangement can be used in an efficient manner.

According to some aspects, the third mode of operation comprises at least one of the following sub-modes of operation:

-a start-up mode, wherein the second motor means is adapted to run the first motor means before being powered by the external electric power source.

-a common drive mode, wherein both electric motor means are adapted to propel the hydraulic pump assembly.

This provides the advantage that a simple and reliable soft start of the second motor means can be achieved.

According to some aspects, a vehicle work machine includes a single-phase battery charger connectable to an external power source via a charger contactor.

This provides the advantage that the auxiliary charging can be performed in an economical manner.

Methods related to the above advantages are also disclosed herein.

Further examples are disclosed in the dependent claims.

Drawings

The present disclosure will now be described in more detail with reference to the accompanying drawings, in which:

fig. 1 shows a first view of a demolition robot and a remote control;

figure 2 shows a second view of the demolition robot;

figure 3 shows a schematic view of the components included in the demolition robot;

FIG. 4 shows a schematic diagram of one example of a motor configuration;

FIG. 5 shows a schematic diagram of another example of a motor configuration;

FIG. 6 shows a schematic diagram of yet another example of a motor configuration; and

fig. 7 shows a flow chart of a method according to the present disclosure.

Detailed Description

Referring to fig. 1, there is a work machine 10 in the form of a demolition robot, which is electrically driven and has a power connection 8. In the figure, the connection 8 is shown in a disconnected state, but during operation the connection 8 is connected to a cable (schematically indicated in fig. 1) leading to an external power source 17 and typically for three-phase current. The work machine is driven by a crawler 6 and has a rotating tower 7. An arm consisting of several parts is fixed to the tower 7.

The work machine has four support legs 5, shown here fully raised. The operator operates the machine by means of a remote control 11, which remote control 11 is worn, in this example, on the shoulder of the operator. However, it is of course also possible to fix the remote control in a different way, for example by means of a belt. The remote control has a left control stick 12 and a right control stick 13.

Fig. 2 shows the demolition robot 10 in more detail, with some of the protective housing removed. The support leg 5 of the demolition robot is lowered so that the machine rests firmly on its four support legs. As previously mentioned, the machine has an arm comprising three parts. The first arm 1 is articulated to the rotating tower 7 of the machine and can be swung by means of a first hydraulic cylinder 18, the upper end of which is visible at the left part of the arm. The second arm 2 is fixed to the first arm 1. The second arm 2 is tilted on the front side of the first arm 1 by means of a second hydraulic cylinder 19. The second arm 2 also has an inner telescopically extendable part which increases the reach of the machine. The second arm is operated by a hydraulic cylinder placed inside the second arm 2 and therefore completely hidden. The third arm 3 is fixed to the outer end of the second arm 2 and is swung by a third hydraulic cylinder 20 inside the second arm 2.

The outer end of the third arm 3 is designed such that it can be fixed to a mounting plate 9 mounted on the rear side of the demolition tool 4. For clarity, the tool 4 and the mounting plate 9 are shown separated from each other and from the outer end of the third arm 3. In fig. 1, an exemplary breaker 4 for cutting concrete or the like is shown installed. The crusher may be replaced with a concrete crusher for crushing and cutting material.

Referring also to fig. 3, the demolition robot 10 comprises a first electric motor 21, a second electric motor 22, a battery 23 and a hydraulic pump assembly 24, which hydraulic pump assembly 24 is adapted to power the hydraulic cylinders 18, 19, 20 and other hydraulic equipment (e.g. the propulsion units of the tracks 6 and the support legs 5) in a previously known manner.

According to the present disclosure, the first electric motor 21 is adapted to be powered solely from the external electric power source 17 via the electric power cable, while the second electric motor 22 is adapted to be powered solely from the battery 23. To this end, the battery 23 is connected to the second motor 22 by a motor driver assembly 25, the motor driver assembly 25 being adapted to convert the voltage provided by the battery 23 into a suitable voltage for the second motor means 22.

Both electric motors 22 are connectable (via first and second clutch devices 26a, 26b, according to some aspects) to the hydraulic pump assembly 24. In more detail, the first motor 21 is connected to the first power transmission shaft 27a, and the second motor 22 is connected to the second power transmission shaft 27 b. The first power transmission shaft 27a may be connected to a third power transmission shaft 27c adapted to drive the hydraulic pump assembly 24 by a first clutch device 26a, and the second power transmission shaft 27b may be connected to the third power transmission shaft 27c via a second clutch device 26 b.

In the first operating mode, the first clutch device 26a is adapted to connect the first power transmission shaft 27a to the third power transmission shaft 27c, and the second clutch device 26b is adapted to disconnect the second power transmission shaft 27b from the third power transmission shaft 27 c. In a first mode of operation, only the first electric motor 21 propels the hydraulic pump assembly 24, and then the demolition robot 10 is powered only by the external electric power source 17.

In the second operating mode, the second clutch device 26b is adapted to connect the second power transmission shaft 27b to the third power transmission shaft 27c, and the second clutch device 26b is adapted to disconnect the first power transmission shaft 27a from the third power transmission shaft 27 c. In a second mode of operation, only the second electric motor 22 propels the hydraulic pump assembly 24, and then the demolition robot 10 is powered only by the battery 23.

In the third operating mode, the first clutch device 26a is adapted to connect the first power transmission shaft 27a to the third power transmission shaft 27c, and the second clutch device 26b is adapted to connect the second power transmission shaft 27b to the third power transmission shaft 27 c.

The third operating mode, in which the motors 21, 22 are mechanically connected to each other, comprises three different sub-operating modes: a start-up mode, a common drive mode and a charging mode.

In the start mode, the second electric motor 22 is adapted to run the first electric motor 21 before the first electric motor 21 is powered by the external electric power source 17, thereby enabling a soft start of the first electric motor 21 that minimizes current peaks during start of the first electric motor 21. After start-up, the first electric motor 21 is powered from the external electric power source 17. Any mode of operation in which the first motor 21 is operated may then follow.

In the common drive mode, both motors are adapted to propel the hydraulic pump assembly 24, thereby providing the maximum available working power to the demolition robot 10.

In the charging mode, the first electric motor 21 is adapted to operate the second electric motor 22 as a generator. In this case, the motor driver assembly 25 functions as a battery charger that is controllable to charge the battery 23. In the charging mode, according to some aspects, the third power transfer shaft 27c may be connected for driving the hydraulic pump assembly 24 or disconnected from the hydraulic pump assembly 24. This is achieved by means of a third clutch device 26c, which third clutch device 26c is adapted to connect and disconnect the third power transmission shaft 27c from the hydraulic pump assembly 24.

In the former case, when the third power transmission shaft 27c is connected for driving the hydraulic pump assembly 24, the excess available power from the external electric power source 17, which is not required by the hydraulic pump assembly 24, can be used for charging the battery 23 via the first electric motor 21. In this case, the motor driver assembly 25 is adapted to control the charge rate of the battery 23 based on the available power from the external power source 17 and the power required by the hydraulic pump assembly 24. If the hydraulic pump assembly 24 requires more power than is available from the external electrical power source 17, the motor driver assembly 25 is adapted to control the ratio of power supplied from the battery 23 according to the required power.

In the latter case, when the third power transmission shaft 27c is disconnected from the hydraulic pump assembly 24, all available power from the external electric power source 17 may be used to charge the battery 23 through the first electric motor 21.

The motors 21, 22 are insensitive to overvoltages or surges on the external power source 17, enabling robust charging. The battery voltage system is isolated from the incoming three phase power from the external power source 17. By having two motors, by using the second motor 22 as a generator and the driver assembly 25 as a battery charger, there is no need to use a separate three-phase charger. Instead of one larger motor, two smaller motors may be used. The motor size may be selected based on the power required to operate with a battery power source without a grid connection.

According to some aspects, as shown in dashed lines, the single-phase battery charger 28 is connected to the external power source 17 via a charger contactor 29. The single-phase battery charger 28 is of a conventional and inexpensive type and is used to charge the battery when needed. It should be noted that the efficiency of battery charging during the charging mode exceeds the efficiency of battery charging by means of the single-phase battery charger 28. The single-phase battery charger 28 may be used for overnight charging or for charging at a lower power. This can be automatically connected by the charger contactor 29 when the first motor 21 is turned off.

According to some aspects, the first motor is typically started via motor contactor 30, as shown in phantom, in the event that the start mode is not implemented or operational. In this case, a conventional soft start device is preferably used to reduce the magnitude of the current during start-up.

The disclosure is not limited to the above examples but may be varied freely within the scope of the appended claims. For example, the electric motors 21, 22 may be connected to the hydraulic pump assembly 24 by means other than the clutch devices 26a, 26 b.

As schematically illustrated in fig. 3, according to some aspects, the operation of the above-described components of the demolition robot 10 is controlled by one or more control units 33.

When the demolition robot 10 is in the form of a remote demolition robot, it also comprises a radio module for communication with a remote control 11. It is also contemplated to use a wired control where such wires may be connected through or with the power connection 8.

Although the present disclosure has been described with respect to a remotely controlled demolition robot 10, the present disclosure is applicable to any type of vehicle work machine.

Typically, the demolition robot 10 comprises a first motor arrangement 31, which first motor arrangement 31 comprises one or more motors 21, 21 ', which in the case of two or more motors 21, 21' may be more or less mechanically interconnected, as schematically shown in dashed lines in fig. 3. Typically, the demolition robot 10 also comprises a second motor arrangement 32, which second motor arrangement 32 comprises one or more motors 22, 22', which in the case of two or more motors 21, 21' are more or less mechanically interconnected, as schematically shown in dashed lines in fig. 3. The one or more electric motors 21, 21 'comprised in the first motor arrangement 31 are all arranged to be powered solely by an external electric power source, such as the power grid 17, and the one or more electric motors 22, 22' comprised in the second motor arrangement 32 are all arranged to be powered solely by the battery 23. Typically, the battery is constituted by a suitable type of energy storage device 23 suitable for charging.

The examples presented above are disclosed merely to provide an understanding of the present disclosure. In general, the third operating mode, in which the motors 21, 22 are mechanically connected to each other, comprises the sub-modes: at least one of a start-up mode and a common drive mode. The inventive concept relies on the following facts: one motor or motor arrangement is arranged to be powered by an external power source, such as an electric power grid, while the other motor or motor arrangement is arranged to be powered by an internal power source, which may be rechargeable and may hold electrical energy charged, typically constituted by an energy storage device 23.

According to some aspects, one motor or motor arrangement is arranged to be powered primarily by an external power source, while the other motor or motor arrangement is arranged to be powered primarily by an internal power source. The internal power source is rechargeable and can hold electrical energy for a charged amount, typically constituted by an energy storage device 23.

As used herein, the term "providing power" refers to obtaining electrical power for operating one or more electric motors. According to some aspects, the motor may have electrical connections, for example associated with control circuitry and sensors at the motor in question. Such electrical connections are of the low voltage type, typically about 5V, and relay a relatively low magnitude of current, and are not associated with powering the motor.

The hydraulic pump assembly 24 may include one or more hydraulic pumps.

The support legs are optional and the number of support legs can vary, but should be at least two if present. Instead of support legs, bulldozer blades may be used.

According to some aspects, the external power source is a single phase power source, a two phase power source, or a three phase power source, with or without neutral and/or ground connections in any case.

According to some aspects, the tracks 6 are directly electrically driven.

According to some aspects, the motor may be arranged in a number of different ways. In fig. 4, it is only schematically shown how the electric motor is connected to the hydraulic pump assembly 24, there being a first electric motor 21 according to the above example and a second electric motor 22 according to the above example. This means that there is only one electric motor 21 in the first motor means 31 and only one electric motor 22 in the second motor means 32. Of course, any number of motors may be present in the respective motor arrangement, and only examples illustrating the principles are disclosed herein.

The first electric motor 21 is connectable to the second electric motor 22 via a first power transmission shaft 34a, a first clutch device 35a and a second power transmission shaft 34 b. The second electric motor 22 may be connected to the hydraulic pump assembly 24 via a second power transmission shaft 34b, a second clutch device 35b and a third power transmission shaft 34 c. Here, the first clutch means 35a is adapted to connect or disconnect a mechanical connection between the electric motors 21, 22, and the second clutch means 35b is adapted to connect or disconnect a mechanical connection between the second electric motor 22 and the hydraulic pump assembly 24.

This means that the second electric motor 22 may be mechanically connected to the hydraulic pump assembly 24 with or without mechanical connection to the first electric motor 21. The first electric motor 21 may be mechanically connected only to the second electric motor 22, allowing the battery 23 to be charged without pushing the hydraulic pump assembly 24; or mechanically connected to the hydraulic pump assembly 24 along with the second electric motor 22.

In fig. 5, a similar arrangement exists, but here the first motor 21 and the second motor 22 have changed positions. The second electric motor 22 may be connected to the first electric motor 21 through a first power transmission shaft 36a, a first clutch device 37a, and a second power transmission shaft 36 b. The first electric motor 21 may be connected to the hydraulic pump assembly 24 via a second power transmission shaft 36b, a second clutch device 37b and a third power transmission shaft 36 c. Here, the first clutch means 37a is adapted to connect or disconnect a mechanical connection between the electric motors 21, 22, and the second clutch means 37b is adapted to connect or disconnect a mechanical connection between the first electric motor 21 and the hydraulic pump assembly 24.

This means that the first electric motor 21 may be mechanically connected to the hydraulic pump assembly 24, with or without mechanical connection to the second electric motor 22. The second electric motor 22 may be mechanically connected only to the first electric motor 21, allowing the battery 23 to be charged without pushing the hydraulic pump assembly 24; or mechanically connected to the hydraulic pump assembly 24 together with the first electric motor 21.

In fig. 6, a parallel configuration is shown. Here, the first and second electric motors 21 and 22 are installed in parallel with respect to each other and the hydraulic pump assembly 24. In more detail, the first motor 21 is mechanically connected to the first power transmission shaft 38a, the second motor 22 is mechanically connected to the second power transmission shaft 38b, and the hydraulic pump assembly 24 is mechanically connected to the third power transmission shaft 38 c. The power transmission shafts 38a, 38b, 38c may be connected via a common clutch device 39, which clutch device 39 according to some aspects comprises a belt transmission.

This means that the first electric motor 21, the second electric motor 22 and the hydraulic pump assembly 24 may be connected to each other via a common clutch means 39, which clutch means 39 is adapted according to some aspects to mechanically connect the first electric motor 21, the second electric motor 22 and the hydraulic pump assembly 24 independently of each other.

Clutch devices 26a, 26b, 26 c; 35a, 35b, 35 c; 37a, 37b, 37 c; 39 are generally constituted by a power transmission device. According to some aspects, the power transfer devices 26a, 26b, 26 c; 35a, 35b, 35 c; 37a, 37b, 37 c; 39 includes at least one of a clutch assembly and a gear assembly. By means of the gear assembly, the rotational speed can be converted into a suitable value.

According to some aspects, one or more of the power transfer devices 26a, 26b, 26 c; 35a, 35b, 35 c; 37a, 37b, 37 c; 39 are omitted so that the power transmission shafts 27a, 27b, 27 c; 34a, 34b, 34 c; 36a, 36b, 36 c; 38a, 38b, 38c are formed by a single power transmission shaft. This means that, according to some aspects, according to one example, the power transmission devices 26a, 26b, 26c are not present at all; 35a, 35b, 35 c; 37a, 37b, 37 c; 39, all of the electric motors 21, 22 and the hydraulic pump assembly 24 are always mechanically connected directly to each other.

Having a power transmission means 26a adapted to disengage said one or more electric motors 21, 21' in the first motor means 31; 35 a; 39 reduces the risk of back driving one or more of the one or more motors 21, 21' in the first motor arrangement 31 and provides current flow to the external power source 17 if the motor contactor 30 is on. In the absence of such a power transmission device 26 a; 35 a; 39, this can be avoided by monitoring the motor contactors 30.

Having a power transmission 26c adapted to disengage the hydraulic pump assembly 24; 35 b; 37 b; 39 reduces the risk of unpredictable movement. Without such a power transmission device 26 c; 35 b; 37 b; 39, this can be avoided by monitoring the hydraulic pressure in the system.

In general, due to the different kinds of power transmission devices 26 c; 35 b; 37 b; 39 and not using one or more of the above-described power transmission devices 26 c; 35 b; 37 b; one or more of the electric motors are adapted to propel the hydraulic pump assembly 24 and the first electric motor means 31 is adapted to propel the second electric motor means 32 39.

Generally, this means:

in the first operating mode, only the first motor means 31 push the hydraulic pump assembly 24,

in the second operating mode, only the second motor means 32 push the hydraulic pump assembly 24, and

in the third operating mode, both motor means 31, 32 push the hydraulic pump assembly 24.

Further, normally, in the charging operation mode, the first motor means 31 pushes the second motor means 32. According to some aspects, in the charging mode of operation, the first motor means 31 also propels the hydraulic pump assembly 24.

According to some aspects, the first motor means 31 comprise one or more asynchronous motors 21, 21'. This is advantageous because asynchronous motors are less expensive than three-phase battery chargers of the same power, and generally also less expensive than many other types of motors. Furthermore, the asynchronous motor can be connected to the three-phase voltage without being connected to the electrical zero line. Most battery chargers require connection to a neutral wire, which is not available on all power supply networks.

Furthermore, the asynchronous motor is structurally robust and can be installed in a demolition robot. Three-phase chargers are typically adapted to be hung on a wall or possibly mounted on a forklift (i.e., a much less harsh environment than a demolition robot).

Furthermore, asynchronous motors are easily adaptable to different voltages and frequencies in different markets. Since the choice of on-board chargers is very limited, providing a charger for each individual market, such as japan (2 x 200V), south africa (3 x 525V), and canada (3 x 575V), according to one example, would be very difficult and costly. But asynchronous motors with appropriate voltages can be used in all markets, making the adaptation of the demolition robot to match each market at present simple and cost-effective.

According to some aspects, the first motor means 31 comprise one or more electric motors 21, 21' of relatively high power and it is possible to limit the power output of the electric motors. For example, if only a 16A connection is available, a motor rated at 32A may be limited to loading only 16A to the external power source. If 32A is available, the corresponding power may of course be used.

The more the first motor means 31 may be loaded, the more the power output of the second motor means 32 may be limited, which in turn will provide a longer battery life. Since the battery is a major part of the cost of the hybrid power, having one or more electric motors 21, 21' of relatively large power in the first motor means 31, the life of the relatively expensive battery can be extended.

According to some aspects, the motors in the motor arrangements 31, 32 may comprise asynchronous motors, synchronous motors, universal motors and/or permanent magnet motors.

In general, the present disclosure is directed to a vehicular work machine 10 comprising: a first motor means 31 comprising one or more electric motors 21, 21'; and a second motor arrangement 32 comprising one or more electric motors 22, 22' separate from the one or more electric motors 21, 21 ' of the first motor arrangement 31, wherein the vehicle working machine 10 further comprises a power connection 8 adapted to be connected to an external electric power source 17, an energy storage arrangement 23 and a hydraulic pump assembly 24 adapted to power hydraulic equipment 5, 18, 19, 20 comprised in the vehicle working machine 10, wherein at least one electric motor 21, 21 ' in each motor arrangement 31, 32; 22. 22' are adapted to propel hydraulic pump assembly 24. The one or more electric motors 21, 21 'in the first motor arrangement 31 are arranged to be powered from the external electric power source 17, and the one or more electric motors 22, 22' in the second motor arrangement 32 are arranged to be powered from the energy storage 23.

According to some aspects, the one or more electric motors 21, 21 'in the first motor arrangement 31 are arranged to be powered primarily from the external electric power source 17, while the one or more electric motors 22, 22' in the second motor arrangement 22 are arranged to be powered primarily from the energy storage device 23.

According to some aspects, the vehicular work machine 10 is adapted to a charging mode of operation, wherein the first motor means 31 is adapted to propel the second motor means 32 and to operate the second motor means 32 as a generator adapted to charge the energy storage means 23.

According to some aspects, in the charging mode of operation, the first motor means 31 also propels the hydraulic pump assembly 24.

According to some aspects, the energy storage device 23 is connected to the second motor device 32 via a motor driver assembly 25, the motor driver assembly 25 being adapted to convert the voltage provided by the energy storage device 23 into an appropriate voltage for the second motor device 32.

According to some aspects, the motor driver assembly 25 is adapted to control the ratio of power supplied from the energy storage device 23 as a function of the power available from the external electrical power source 17 and the power required by the hydraulic pump assembly 24.

According to some aspects, the motor drive assembly 25 is adapted to function as a charger in a charging mode.

According to some aspects, the first motor driver assembly 25 is adapted to control the charge rate of the energy storage device 23 as a function of the available power from the external electrical power source 17 and the power required by the hydraulic pump assembly 24.

According to some aspects, vehicle work machine 10 is adapted to:

a first operating mode, in which only the first motor means 31 push the hydraulic pump assembly 24,

a second mode of operation in which only the second motor means 32 is propelling the hydraulic pump assembly 24, and

a third operating mode, in which both electric motor means 31, 32 propel the hydraulic pump assembly 24.

According to some aspects, the third mode of operation comprises at least one of the following sub-modes of operation:

a start-up mode, in which the second motor means 32 are adapted to run the first motor means 31 before powering the first motor means 31 from the external electric power source 17;

a common drive mode, in which both electric motor means 31, 32 are adapted to propel the hydraulic pump assembly 24.

According to some aspects, the vehicular work machine 10 includes a single-phase battery charger 28 that is connectable to the external source of electrical power 17 via a charger contactor 29.

According to some aspects, the first motor means 31 comprise one or more asynchronous motors 21, 21'.

In general, referring to fig. 7, the present disclosure also relates to a method for a vehicular work machine 10, the vehicular work machine 10 having an energy storage device 23, a first motor device 31 using one or more motors 21, 21 ', and a second motor device 32 using one or more motors 22, 22'. The method comprises the following steps:

providing power 101 to the first motor means 31 from the external power source 17; and

the second motor means 32 is powered 102 from the energy storage means 23.

According to some aspects, in the charging mode of operation, the first motor means 31 is used to operate the second motor means 32 as a generator for charging the energy storage device 23.

According to some aspects, in a first operating mode the method comprises using only the first motor means 31 for propelling the hydraulic pump assembly 24 used in the vehicle working machine 10, in a second operating mode the method comprises using only the second motor means 32 for propelling the hydraulic pump assembly 24, and in a third operating mode the two motor means 31, 32 are used for propelling the hydraulic pump assembly 24.

According to some aspects, the third mode of operation comprises at least one of the following sub-modes of operation:

a start-up mode, in which the second motor means 32 are used to propel the first motor means 31 before the first motor means 31 is powered by the external electric power source 17;

a common drive mode, in which both electric motor means 31, 32 are used to propel the hydraulic pump assembly 24.