CN116766976A - All-terrain electric power transmission vehicle and control method thereof - Google Patents

Abstract

This application provides an all-terrain power transmission vehicle and a control method thereof. The all-terrain power transmission vehicle includes: a vehicle body, a battery box, a cable retraction mechanism, a position sensor and an electronic control system. The vehicle body has a crawler running mechanism, a battery box is arranged on the vehicle body, a cable retraction device is used to retract and release the cable, one end of the cable is electrically connected to the battery box, and the other end of the cable is used to electrically connect to the electric machine. , the position sensor is used to detect the distance between the electric machine and the vehicle body, the electronic control system is electrically connected to the position sensor, and the electronic control system is used to control the cable retraction mechanism and the crawler running mechanism. The all-terrain power transmission vehicle of this application can replenish energy for electric machinery in remote, poor road conditions, and without power grid coverage, allowing the electric machinery to achieve continuous and uninterrupted work. It solves the difficulty of replenishing energy for existing electric machinery and the need to interrupt it. The problem of charging during construction affects the progress of construction.

Description

An all-terrain tram and its control method

Technical field

The present application relates to the field of energy supplement technology, and in particular to an all-terrain power transmission vehicle and its control method.

Background technique

At present, construction machinery mainly uses fuel to replenish energy. The fuel-fired construction machinery has serious environmental pollution, high noise, and high fuel costs. The construction cost of the rechargeable construction machinery is lower than that of the fuel-fired construction machinery. However, in remote areas, poor road conditions, and without power grid coverage, the rechargeable construction machinery cannot replenish electric energy and cannot work continuously and efficiently.

Contents of the invention

Embodiments of the present application provide an all-terrain power transmission vehicle and its control method, which solves the problem of difficulty in replenishing energy of existing electric machinery and the need to interrupt construction for charging, which affects the construction progress.

This application provides the following technical solutions:

The first purpose of this application is to provide an all-terrain power delivery vehicle, including:

A vehicle body with a crawler running mechanism;

A battery box, the battery box is arranged on the vehicle body;

Cable retraction and release mechanism, the cable retraction and release device is used to retract and release the cable, one end of the cable is electrically connected to the battery box, and the other end of the cable is used to electrically connect the electric machine;

A position sensor used to detect the distance between the electric machine and the vehicle body;

An electronic control system, the electronic control system is electrically connected to the position sensor, and the electronic control system is used to control the cable retraction mechanism and the crawler running mechanism.

Optionally, the cable retraction mechanism and the battery box are arranged sequentially along the length direction of the vehicle body;

The cable retracting and unwinding mechanism is arranged at the head of the vehicle body, and the battery box is arranged at the rear of the vehicle body.

Optionally, the all-terrain power transmission vehicle includes at least two battery boxes, and each of the battery boxes is arranged at intervals along the width direction of the vehicle body.

Optionally, the all-terrain power transmission vehicle includes guardrails, and the guardrails are provided on the vehicle body;

The guardrail extends along the circumferential direction of the battery box.

Optional, all-terrain power delivery vehicle includes battery cradle;

The battery bottom bracket is arranged on the vehicle body;

The battery bottom bracket has a first electrical connector and a high and low voltage junction box, and the high and low voltage junction box is electrically connected to the first electrical connector;

The electronic control system is electrically connected to the high and low voltage junction box;

The battery box has a second electrical connector, and when the battery box is installed on the battery bottom bracket, the second electrical connector is connected to the first electrical connector.

Optionally, the all-terrain power transmission vehicle includes a support frame, which includes a bottom frame, a top frame and a steering assembly;

The bottom frame is connected to the vehicle body, the top frame is rotatably connected to the bottom frame, and the steering assembly is connected to the top frame;

The cable is arranged around the steering assembly.

Optionally, the all-terrain power transmission vehicle includes a control terminal, the control terminal is communicatively connected to the electronic control system, and the control terminal is used to send control instructions to the electronic control system.

The second purpose of this application is to provide a control method for an all-terrain electric vehicle, which includes: an electronic control system obtains a distance signal output by a position sensor, and the electronic control system controls the cable retraction mechanism to perform a cable retraction action and/or according to the distance signal. Or control the crawler walking mechanism to perform walking actions.

Optionally, the control method of the all-terrain power delivery vehicle includes:

Step S1: The electronic control system obtains the distance signal output by the position sensor and determines whether the distance between the vehicle body and the electric machine is within the set distance range. If the judgment result is yes, then enter step S1; otherwise, enter step S2;

Step S2: The electronic control system controls the walking speed and/or walking direction of the crawler traveling mechanism so that the distance between the vehicle body and the electric machine is within a set distance range.

Optional control methods include:

Step a. The electronic control system obtains the distance signal output by the position sensor and determines the distance value between the vehicle body and the electric machinery;

Step b. The electronic control system controls the cable retracting and unwinding mechanism to perform the cable retracting and unwinding action according to the distance value, so that the total extension length of the cable is within the safe length range corresponding to the distance value.

By adopting the above solution, this application has the following beneficial effects:

The all-terrain power transmission vehicle of this application can replenish energy for electric machinery in remote, poor road conditions, and without power grid coverage, allowing the electric machinery to achieve continuous and uninterrupted work. It solves the difficulty of replenishing energy for existing electric machinery and the need to interrupt it. The problem of charging during construction affects the progress of construction.

Description of drawings

The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the attached picture:

Figure 1 shows a state diagram of an all-terrain power transmission vehicle replenishing energy for an electric machine provided by an embodiment of the present disclosure;

Figure 2 shows a schematic three-dimensional structural diagram of an all-terrain power delivery vehicle provided by an embodiment of the present disclosure;

Figure 3 shows a side view of the all-terrain power delivery vehicle provided by an embodiment of the present disclosure;

Figure 4 shows a schematic structural diagram of the all-terrain power transmission vehicle provided by an embodiment of the present disclosure with the protective cover removed;

Figure 5 shows a schematic structural diagram of the battery bottom bracket in the all-terrain power transmission vehicle provided by an embodiment of the present disclosure.

Reference signs: 1. Car body; 2. Running mechanism; 3. Battery box; 4. Cable drum; 5. Support frame; 51. Bottom frame; 52. Top frame; 53. Steering assembly; 6. Protective cover; 7. Battery bottom bracket; 71. Frame body; 711. Upper frame; 712. Lower frame; 713. Extension frame; 72. Locking mechanism; 73. First electrical connector; 74. Charging box; 75. High and low voltage wiring Box; 76. Coarse guide body; 77. Fine guide body; 8. Guardrail; b. Electric machinery; c. Cable.

Detailed ways

In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application are further described in detail with reference to the first drawings. Obviously, the described embodiments are only part of the embodiments of the present application. , rather than being exhaustive of all embodiments. It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

In the description of the present application and its embodiments, it should be understood that the orientation or positional relationship indicated by the terms "top", "bottom", "height", etc. are based on the orientation or positional relationship shown in the drawings and are only for the purpose of To facilitate the description of the present application and to simplify the description, it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present application.

In this application and its embodiments, unless otherwise expressly stated and limited, the terms "set", "installation", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, it can be fixed The connection can be detachable or integrated; it can be a mechanical connection, an electrical connection, or communication; it can be a direct connection or an indirect connection through an intermediary, or it can be an internal connection between two components. or the interaction between two components. For those of ordinary skill in the art, the specific meaning of the second term in this application can be understood according to specific circumstances.

In this application and its embodiments, unless otherwise expressly stipulated and limited, the "second" or "first" of a first feature to a second feature may include direct contact between the first and second features, or may include The first and second features are not in direct contact but rather through another feature between them. Furthermore, the first feature on the second feature "on the second", "the second side" and "the second side" includes the first feature on the second feature's direct second side and oblique second side, or simply means the first feature The level is higher than the second feature. "First", "first side" and "first side" of the first feature on the second feature include the first feature on the second straight side and oblique second side of the second feature, or simply represent the horizontal height of the first feature smaller than the second characteristic.

Embodiment 1

Referring to Figures 1 to 5, embodiments of the present application provide an all-terrain power transmission vehicle, including: a vehicle body 1, a battery box 3, a cable retraction mechanism, a position sensor and an electronic control system. The vehicle body 1 has a crawler running mechanism 2. A battery box 3 is provided on the vehicle body 1. A cable retraction device is used to retract and release a cable c. One end of the cable c is electrically connected to the battery box 3. The cable c The other end is used to electrically connect the electric machine b. The position sensor is used to detect the distance between the electric machine b and the vehicle body 1. The electronic control system is electrically connected to the position sensor. The electric control system is used to control the retraction of the cable. release mechanism and the crawler running mechanism.

The position sensor can be any one or a combination of infrared distance detectors, laser detectors and radar detection equipment.

The energy replenishment equipment of this application has an independent walking mechanism 2, which can automatically follow the walking of electric machine b, and can replenish energy for electric machine in remote, poor road conditions and without power grid coverage, so that electric machine b can achieve continuous and uninterrupted work. , which solves the problem that existing electric machinery is difficult to replenish energy and needs to interrupt construction for charging, which affects the construction progress.

The all-terrain power transmission vehicle is equipped with a vehicle body 1, which is driven by a crawler running mechanism 2. The all-terrain power transmission vehicle also includes a hydraulic system, and the hydraulic system drives the crawler running mechanism 2 to move.

The cable retracting and unwinding mechanism (including the cable reel 4) and the battery box 3 are arranged in sequence along the length direction of the vehicle body 1. The cable retracting and unwinding mechanism is arranged at the head of the vehicle body 1. The battery box 3 is arranged at the rear of the vehicle body 1. The cable retracting and unwinding mechanism is arranged at the head of the vehicle body 1 to facilitate the extraction of the cable c. The battery box 3 is arranged at the rear of the vehicle body 1 and does not affect the extraction of the cable c.

In a possible implementation, as shown in FIG. 2 , the all-terrain electric power transmission vehicle includes at least two battery boxes 3 , and each of the battery boxes 3 is arranged at intervals along the width direction of the vehicle body 1 . By arranging multiple battery boxes 3, some of the battery boxes 3 can be used to provide traveling power for the all-terrain electric vehicle, and some of the battery boxes 3 can be used to power the electric machine b.

In a possible implementation, the all-terrain power transmission vehicle includes a guardrail 8 , which is provided on the vehicle body 1 , and extends along the circumferential direction of the battery box 3 .

The guardrail 8 can be hinged on the vehicle body 1 and arranged along the periphery of the battery box 3. In an unexpected situation, the guardrail 8 can support the battery box 3 and prevent the battery box 3 from tipping over and causing a safety accident.

Embodiment 2

The all-terrain power transmission vehicle includes a battery bottom bracket 7, which is arranged on the vehicle body 1. The battery bottom bracket 7 has a first electrical connector 73 and a high and low voltage junction box 75. The high and low voltage wiring The box 75 is electrically connected to the first electrical connector 73, the electrical control system is electrically connected to the high and low voltage junction box 75, the battery box 3 has a second electrical connector, and the battery box 3 is installed on the battery bottom bracket 7 In the state, the second electrical connector and the first electrical connector 73 are connected.

Embodiment 2 of the present application describes the structure of the battery bottom bracket 7 in detail. As shown in Figure 5, the battery bottom bracket 7 includes: a frame body 71, a plurality of first electrical connectors 73, a plurality of charging boxes 74 and a plurality of sets of battery guide assemblies. Each of the battery guide assemblies is arranged on the frame body 71. The battery guide assembly extends in a direction perpendicular to the frame body 71 , and the first electrical connector is disposed on the frame body 71 . The charging box 74 is provided on the frame body 71 , and each charging box 74 is electrically connected to a corresponding first electrical connector. The battery bottom bracket 7 provided by this application can charge the battery box 3 through the charging box 74 . The battery bottom bracket 7 provided by this application is provided with a battery guide component to facilitate the disassembly and assembly of the battery box 3. It can play a guiding role when the battery box 3 is dropped to the battery bottom bracket 7, so that the battery box 3 can be quickly installed. At the installation position on the battery bottom bracket 7.

In a possible implementation, as shown in FIG. 5 , the frame body 71 includes a lower frame 712 and an upper frame 711 , the upper frame 711 and the lower frame 712 are connected, and the upper frame 711 and the upper frame 711 are connected to each other. A mezzanine cavity is formed between the lower frames 712 , and a charging cable is connected to the charging box 74 . The charging cable extends along the mezzanine cavity, and the charging cable is electrically connected to the electrical connector. By arranging the lower frame 712 and the upper frame 711, it is convenient to arrange the charging cable in the interlayer cavity between them. The guide assembly is arranged on the upper frame 711. After the battery box 3 is installed on the upper frame 711, it will not affect the layout of the charging cable at the bottom.

In a possible implementation, the charging box 74 is provided on one edge of the frame body 71 , and a set of lugs are respectively provided on both sides of the charging box 74 along the thickness direction of the frame body 71 . One set of lugs is snugly connected to the edge of the upper frame 711 , and the other set of lugs is snugly connected to the edge of the lower frame 712 . The charging box 74 is located outside the mezzanine cavity and at the edge of the mezzanine cavity. The charging box 74 does not occupy the space of the frame body 71 . The charging box 74 may be provided with components such as a converter for converting AC power into DC power for easy charging.

Each set of battery guide components is used to guide a battery box 3 . The number of charging boxes 74 on the battery bottom bracket 7, the number of first electrical connectors and the number of groups of battery guide assemblies are the same and correspond one to one. A second electrical connector is also provided on the battery box 3. After the battery box 3 is supported on the battery bottom bracket 7 under the guidance of the corresponding battery guide assembly, the second electrical connector of the battery box 3 and the first electrical connector on the battery bottom bracket 7 The electrical connector is electrically connected, and when the charging box 74 is connected to the power source, the corresponding battery box 3 can be charged.

In a possible implementation, the battery bottom bracket 7 includes a high and low voltage junction box 75 , the high and low voltage junction box 75 is provided on the frame body 71 , and the high and low voltage junction box 75 is electrically connected to the first electrical outlet. Connector. The high and low voltage junction box 75 is a commonly used electrical component in this field, and its principle and structure will not be described in detail in this application. In this embodiment, the charging box 74, the high and low voltage junction box 75 and the battery bottom bracket 7 are integrated, which simplifies the structure. The integrated design of the battery bottom bracket 7 can be directly assembled on the body 1 of the all-terrain power transmission vehicle, which can be roughly completed. The assembly of the all-terrain power transmission vehicle does not require a large number of wiring and lead operations between the battery bottom bracket 7 and the vehicle body 1, which simplifies the assembly of the all-terrain power transmission vehicle.

The high and low voltage junction box 75 can be set at the front end of the battery bottom bracket 7. The battery box 3 is connected to the electronic control system of the entire vehicle through the high and low voltage junction box 75 to provide electric energy to the entire vehicle to meet the electric energy needs of the entire vehicle, including external power transmission, Hydraulic system power supply, etc. In the embodiment of this application, the high and low voltage wire harness, high and low voltage junction box 75, electrical connector, locking mechanism 72, coarse guide 76, fine guide 77, charging box 74, etc. are all integrated into a battery bottom tray that integrates charging and replacement. 7, forming a modular bottom bracket structure.

In a possible implementation, an outwardly protruding extension frame 713 is provided on the edge of the frame body 71 , and the high and low voltage junction boxes 75 are arranged on the extension frame 713 . The high and low voltage junction box 75 can be fixed on the extension frame 713 through fasteners. The arrangement of the extension frame 713 prevents the high and low voltage junction boxes 75 from occupying the space of the frame body 71 and does not affect the arrangement of various structures on the frame body 71 .

The extension frame 713 is provided with a plurality of connecting tabs, and the connecting tabs have connection holes. These connecting tabs are used to be fixed to the vehicle body 1 by fasteners.

In a possible implementation, the battery guide assembly includes a plurality of thick guide bodies 76 (as shown in Figure 5, a battery guide assembly includes six thick guide bodies 76), and the thick guide bodies 76 are arranged along vertical directions. The frame body 71 extends in the direction of the frame body 71, and the thick guide body 76 has a guide slope. The lifting equipment can slowly lower the battery box 3 to the battery base. The rectangular frame at the bottom of the battery box 3 can gradually move downward along the guide slope, which reduces the difficulty of seating the battery box 3.

Optionally, the battery bottom bracket 7 includes a locking mechanism 72 with a through groove provided on the thick guide body 76. The locking mechanism 72 has a telescopic component and a locking shaft, and the locking shaft is slidably connected to the through groove. slot, the telescopic component is provided on the frame body 71, the telescopic component is connected to the locking shaft, and the telescopic component drives the telescopic movement of the locking shaft to extend or retract the through groove. When the locking shaft extends out of the through groove, the locking shaft is inserted into the positioning hole on the battery box 3 to lock the battery box 3 . When the battery box 3 needs to be dismantled, the locking shaft is controlled to retract to the through slot to unlock the battery box 3, and the battery box 3 can be lifted and lifted away by a crane.

Optionally, the battery guide assembly includes a plurality of fine guide bodies 77 , each of the fine guide bodies 77 extends in a direction perpendicular to the frame body 71 , and the fine guide bodies 77 have a tapered guide annular surface.

There is a collar at the bottom of the battery box 3. The fine guide 77 is cylindrical and has a cross-sectional area much smaller than the coarse guide 76. When the hoisting equipment slowly lowers the battery box 3 to the battery base, the rectangular frame at the bottom of the battery box 3 can first be placed on the rough guide. The guide body 76 gradually moves downward under the guidance of the guide slope, and finally the collar is sleeved on the fine guide body 77. Under the limiting effect of the fine guide body 77, the battery box 3 is accurately seated in the installation position. The coarse guide body 76 and the fine guide body 77 cooperate to improve the installation accuracy of the battery box 3 and reduce the installation difficulty of the battery box 3 .

Embodiment 3

Referring to FIGS. 1 to 4 , the cable retracting and unwinding mechanism of the all-terrain electric power transmission vehicle includes a cable drum 4 , and part C of the cable is wound around the cable drum 4 . The cable drum 4 can be wound or released by forward or reverse rotation.

It should be noted that the cable drum 4 is a mature existing technology and there are products on the market. The cable drum 4 of this application can be directly purchased as a product on sale. The all-terrain power transmission vehicle can wind or release the cable c by controlling the forward or reverse rotation of the cable drum 4. When the electric machine b is far away from the all-terrain power transmission vehicle, the all-terrain power transmission vehicle can control the rotation of the cable drum 4 to release the cable c. When the electric machine b is close to the all-terrain power transmission vehicle, the all-terrain power transmission vehicle can control the cable drum 4 to rotate and wind the cable c so that the length of the cable c between the electric machine b and the all-terrain power transmission vehicle is at a suitable length. The appropriate length can be determined based on extensive field experience.

In a possible implementation, the all-terrain power transmission vehicle includes a support frame 5, which is connected to the vehicle body 1. A steering assembly 53 is provided on the support frame 5, and the cable c extends through The steering assembly 53 is connected to the electric machine b after steering.

The support frame 5 can extend obliquely toward the top of the head of the vehicle body 1 to set up the cable c leading out of the cable drum 4 to avoid or reduce the serious wear and tear caused by the cable c coming into contact with the ground. The steering assembly 53 can be rotated to reduce the frictional resistance between the cable C and the output cable to facilitate smooth sliding of the output cable.

In a possible implementation, the steering assembly 53 includes two rollers, which are rotatably connected to the support frame 5 . The rotation axes of the two rollers are parallel. A gap is formed between the two rollers, and the cable c passes through the gap, and the cable c is in contact with the rolling surfaces of the two rollers respectively. The cable C is limited to between the rolling surfaces of the two rollers and is not easy to separate from the two rollers. Among the two rollers, one has a large diameter and the other has a small diameter, and the overall space is small.

In a possible implementation, a cable groove is provided on the rolling surface of the roller. The thickness of the two rollers is consistent, the rotation axes of the two rollers are parallel, the two rollers are located in the same plane, and the cable c passes through the space between the two rollers. The cable c is partially embedded in the cable trough of the two rollers. The two rollers define the position of the cable c and prevent the cable c from breaking away from the support frame 5 .

In a possible implementation, the support frame 5 includes a bottom frame 51 and a top frame 52. The bottom frame 51 is connected to the vehicle body 1, and the top frame 52 is rotatably connected to the bottom frame. 51. The steering assembly 53 is connected to the top frame 52 .

The top frame 52 is rotatably connected to the bottom frame 51. When the electric machine b turns to change the direction, it will drive the cable c to move. Under the action of the tilt force of the cable c, the top frame 52 will automatically rotate and adjust its position so that the cable The extension direction matches the traveling direction of the electric machine b to reduce the sliding resistance of the cable c.

In a possible implementation, the bottom frame 51 has a lower tube, the top frame 52 has an upper tube, and one of the upper tube and the lower tube is sleeved on the other. A bearing is provided between the upper cylinder and the lower cylinder. The setting of the bearing reduces the friction resistance between the upper cylinder and the lower cylinder.

In a possible implementation, the all-terrain power transmission vehicle includes a protective cover 6 , which is connected to the vehicle body 1 to cover the cable drum 4 . The protective cover 6 is provided with a first escape opening for avoiding the cable c.

The protective cover 6 has the function of protecting the cable drum 4 . An electric control system, a hydraulic system and a high and low voltage junction box 75 can be installed on the all-terrain tram vehicle. The high and low voltage junction box 75 is electrically connected to the battery box 3. The high and low voltage junction box 75 is electrically connected to the electric control box. The hydraulic system is transmission connected to the cable drum 4 to drive the cable drum 4 to rotate. The hydraulic system is electrically connected to the electronic control system. The traveling mechanism 2 can be a wheel or a crawler traveling mechanism 2 .

The protective cover 6 is connected to the vehicle body 1 and covers the cable drum 4, the electronic control system, the hydraulic system and the high and low voltage junction box 75.

In a possible implementation, the protective cover 6 is provided with a second escape opening, the support frame 5 includes a plurality of support columns, and at least part of the support columns pass through the second escape opening and are connected to the vehicle. Body 1.

By providing a second escape opening on the protective cover 6 , it is convenient for the support column to pass through the second escape opening and be connected to the vehicle body 1 . The space of the vehicle body 1 is fully utilized, and the protective cover 6 does not interfere with the connection between the support frame 5 and the vehicle body 1 .

In one possible implementation, the protective cover 6 has a convex arc-shaped top wall. The arc-shaped top wall is less likely to adhere to impurities. On rainy days, rainwater will flow downward along the arc-shaped top wall and is less likely to penetrate into the interior of the protective cover 6 .

In a possible implementation, the all-terrain power transmission vehicle includes a control terminal, the control terminal is communicatively connected to the electronic control system, and the control terminal is used to send control instructions to the electronic control system. The control terminal can be a mobile phone, remote control or other handheld terminal, which is convenient for the operator to send instructions to control the travel, steering, emergency stop, lighting, battery box unlocking, cable retraction and other instructions of the all-terrain tram vehicle.

Embodiment 3

Embodiment 3 of the present application provides a control method for an all-terrain electric vehicle, including: an electronic control system obtains a distance signal output by a position sensor, and the electronic control system controls the cable retracting and unwinding mechanism to perform the retracting and retracting action of cable c according to the distance signal and/ Or control the crawler walking mechanism 2 to perform walking action.

Optional methods include controlling the movement of the vehicle body 1. The methods of controlling the movement of the vehicle body 1 include:

Step S1: The electronic control system obtains the distance signal output by the position sensor and determines whether the distance between the vehicle body 1 and the electric machine b is within the set distance range. If the judgment result is yes, then enter step S1; otherwise, enter step S2;

The set distance range is the safe distance between the all-terrain power transmission vehicle and the electric machine B, and is the distance at which the all-terrain power transmission vehicle does not affect the work of the electric machine B.

Step S2: The electronic control system controls the walking speed and/or walking direction of the crawler traveling mechanism 2 so that the distance between the vehicle body 1 and the electric machine b is within a set distance range.

The all-terrain power transmission vehicle detects the position and walking trend of the electric machine b through a position sensor. The electronic control system controls the walking speed and direction of the crawler traveling mechanism 2 based on the detection information of the position sensor, so that the distance between the car body 1 and the electric machine b is at Set the distance range. Within the set distance range, the length of the cable c is sufficient to ensure that the all-terrain power transmission vehicle can provide stable power supply to the electric machine b without interfering with the operation of the electric machine b.

Further, the control method also includes a method of controlling the retracting and retracting of the cable c. The method of controlling the retracting and retracting of the cable c includes:

Step a. The electronic control system obtains the distance signal output by the position sensor and determines the distance value between the vehicle body 1 and the electric machine b;

In this step, the electronic control system acquires the distance signal output by the position sensor.

Step b: The electronic control system controls the cable retraction mechanism to perform the retracting and retracting action of cable c according to the distance value, so that the total extension length of cable c is within the safe length range corresponding to the distance value.

In this step, when the distance (distance value) between the all-terrain power transmission vehicle and the electric machine b is different, the corresponding length of the cable c between the two (the total extension length of the cable c) needs to be adaptively adjusted to ensure Cable C will not be detached from the electric machine, and the electric machine can operate safely.

It should be noted that the above-mentioned method of controlling the movement of the vehicle body 1 and the method of controlling the retraction and retraction of the cable c can be two independent control processes, but the two methods can be implemented at the same time to ensure that the all-terrain power transmission vehicle can stably and effectively supply electric machinery. bPower supply.

Although the preferred embodiments of the present application have been described, those skilled in the art will be able to make additional changes and modifications to these embodiments once the basic inventive concepts are apparent. Therefore, it is intended that the appended claims be construed to include the preferred embodiments and all changes and modifications that fall within the scope of this application.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (10)

1. An all-terrain tram, which is characterized in that it includes: A vehicle body with a crawler running mechanism; A battery box, the battery box is arranged on the vehicle body; Cable retraction and release mechanism, the cable retraction and release device is used to retract and release the cable, one end of the cable is electrically connected to the battery box, and the other end of the cable is used to electrically connect the electric machine; A position sensor used to detect the distance between the electric machine and the vehicle body; An electronic control system, the electronic control system is electrically connected to the position sensor, and the electronic control system is used to control the cable retraction mechanism and the crawler running mechanism. 2. The all-terrain electric power transmission vehicle according to claim 1, characterized in that the cable retraction mechanism and the battery box are arranged sequentially along the length direction of the vehicle body; The cable retracting and unwinding mechanism is arranged at the head of the vehicle body, and the battery box is arranged at the rear of the vehicle body. 3. The all-terrain electric power transmission vehicle according to claim 1, characterized in that it includes at least two battery boxes, and each of the battery boxes is arranged at intervals along the width direction of the vehicle body. 4. The all-terrain power transmission vehicle according to claim 1, characterized in that it includes a guardrail, and the guardrail is provided on the vehicle body; The guardrail extends along the circumferential direction of the battery box. 5. The all-terrain power delivery vehicle according to claim 1, characterized in that it includes a battery bottom bracket; The battery bottom bracket is arranged on the vehicle body; The battery bottom bracket has a first electrical connector and a high and low voltage junction box, and the high and low voltage junction box is electrically connected to the first electrical connector; The electronic control system is electrically connected to the high and low voltage junction box; The battery box has a second electrical connector, and when the battery box is installed on the battery bottom bracket, the second electrical connector is connected to the first electrical connector. 6. The all-terrain power transmission vehicle according to claim 1, characterized in that it includes a support frame, and the support frame includes a bottom frame, a top frame and a steering assembly; The bottom frame is connected to the vehicle body, the top frame is rotatably connected to the bottom frame, and the steering assembly is connected to the top frame; The cable is arranged around the steering assembly. 7. The all-terrain power transmission vehicle according to any one of claims 1 to 6, characterized in that it includes a control terminal, the control terminal is communicatively connected to the electronic control system, and the control terminal is used to provide information to the electronic control system. The system sends control instructions. 8. The control method of the all-terrain power transmission vehicle according to any one of claims 1 to 7, characterized in that it includes: an electronic control system obtains a distance signal output by a position sensor, and the electronic control system controls the cable retraction according to the distance signal. The releasing mechanism performs the cable retracting and releasing action and/or controls the crawler running mechanism to perform the walking action. 9. The control method of the all-terrain power transmission vehicle according to claim 8, characterized in that it includes a method of controlling the movement of the vehicle body, and the method of controlling the movement of the vehicle body includes: Step S1: The electronic control system obtains the distance signal output by the position sensor and determines whether the distance between the vehicle body and the electric machine is within the set distance range. If the judgment result is yes, then enter step S1; otherwise, enter step S2; Step S2: The electronic control system controls the walking speed and/or walking direction of the crawler traveling mechanism so that the distance between the vehicle body and the electric machine is within a set distance range. 10. The control method of the all-terrain power transmission vehicle according to claim 8, characterized in that it includes a method of controlling the retracting and retracting of the cable, and the method of controlling the retracting and retracting of the cable includes: Step a. The electronic control system obtains the distance signal output by the position sensor and determines the distance value between the vehicle body and the electric machinery; Step b. The electronic control system controls the cable retracting and unwinding mechanism to perform the cable retracting and unwinding action according to the distance value, so that the total extension length of the cable is within the safe length range corresponding to the distance value.