CN104314131A - Excavator control system with oil hybrid power - Google Patents
Excavator control system with oil hybrid power Download PDFInfo
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- CN104314131A CN104314131A CN201410473033.8A CN201410473033A CN104314131A CN 104314131 A CN104314131 A CN 104314131A CN 201410473033 A CN201410473033 A CN 201410473033A CN 104314131 A CN104314131 A CN 104314131A
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Abstract
The invention relates to a hydraulic excavator control system, particularly to an excavator control system with oil hybrid power, and belongs to the technical field of engineering machinery. The system comprises hydraulic pumps (1), an engine (2), a main control valve (3), a boom cylinder (4), a rotary motor (5), a rotary energy recovery valve (6) and a movable arm potential energy recovery valve (10), wherein the rotary energy recovery valve recovers the overflowing energy of the rotary motor into a rotary energy accumulator (7); the movable arm potential energy recovery valve recovers the potential energy of the boom cylinder into a movable arm energy accumulator; oil outlets of the rotary energy accumulator and the movable arm energy accumulator are both connected with an energy release control valve, recovered energy is controlled to be transported to an auxiliary motor (11), and the auxiliary motor and the engine jointly provide power for the hydraulic pumps. Through the adoption of the system disclosed by the invention, the movable arm potential energy and the rotary overflowing energy can both be recovered into the energy accumulators and can provide auxiliary power for the system when required, and the lost energy of the excavator system can be furthest recovered.
Description
Technical field
The present invention relates to a kind of Control System of Hydraulic Excavator, be specifically related to a kind of excavator control system of oil-liquid hybrid electric, belong to technical field of engineering machinery.
Background technology
Hydraulic crawler excavator, because its consumption is large, oil consumption is high, discharge is poor, becomes the object of energy-conserving and environment-protective field common concern gradually.As shown in Figure 1, the hydraulic oil that motor 2 drives hydraulic pump 1 to extract in fuel tank delivers to hydraulic rotary motor 5 and boom cylinder 4 by main control valve 3 to the control system of existing hydraulic crawler excavator.Because the quality of the turntable of hydraulic crawler excavator, swing arm, dipper and scraper bowl is comparatively large, slow down or braking time can discharge a large amount of inertia energies, the effective ways addressed this problem carry out energy regenerating exactly.The energy that general recovery obtains mainly contains three kinds of forms: mechanical energy, hydraulic energy and electric energy.
Fluid pressure type energy regenerating, using hydraulic accumulator as energy-storage travelling wave tube, is applied comparatively general in hydraulically powered system.The recoverable energy of hydraulic crawler excavator mainly contains two parts, one be revolution overflow energy, two be swing arm decline time potential energy.If existing excavator main reclaims for revolution overflow energy, and store with the form of electric energy and utilize, forming oil electric mixed dynamic excavator system, system adopts reversal valve to reclaim the energy of the revolution of motor forward and reversed turning respectively; Or separately movable arm potential energy is reclaimed, the action of swing arm and the recovery of movable arm potential energy is controlled with solenoid operated directional valve, utilize the one way valve before luffing jib maintaining valve to realize the large chamber in-line of boom cylinder and the automatic switchover of oil return line, then utilize pilot operated directional control valve to realize accumulator to collection of energy, release.
No matter be reclaim separately revolution overflow energy or reclaim movable arm potential energy separately, all can cause the waste of part energy; The power density that when swing arm declines, oil cylinder exports is large, therefore the power density of oil electric mixed dynamic system is also large, system element will be caused so oversize, and price is higher, therefore should not carry out movable arm potential energy recovery in existing oil electric mixed dynamic excavator system.
Summary of the invention
For solving the problem, the invention provides a kind of excavator control system of oil-liquid hybrid electric, reclaim the energy of excavator system loss to greatest extent, simplify system, component size is less simultaneously, cost-saving.
Technical scheme adopted to achieve these goals: a kind of excavator control system of oil-liquid hybrid electric, comprise hydraulic pump, motor, main control valve, boom cylinder, rotary motor, rotation energy recovery valve and movable arm potential energy recovery valve, two oil-ins of described rotation energy recovery valve are connected with B mouth with the A mouth of rotary motor respectively, and the oil-out of rotation energy recovery valve is connected with revolution accumulator;
The oil-in of movable arm potential energy recovery valve is connected with the rodless cavity of boom cylinder, and the oil-out of movable arm potential energy recovery valve is connected with swing arm accumulator;
Revolution accumulator is all connected with the oil-in of Energy release control valve with the oil-out of swing arm accumulator; The release hydraulic fluid port of fault offset recovery valve is connected with the oil-in of servo-motor, and servo-motor is connected with hydraulic pump, servo-motor outputting power coaxial with motor.
Described rotation energy recovery valve is the first sequence valve in parallel and the second sequence valve, the oil-in of the first sequence valve is connected with the A mouth of rotary motor, the oil-in of the second sequence valve is connected with the B mouth of rotary motor, and the first sequence valve is all connected with revolution accumulator with the oil-out of the second sequence valve.
Preferably, the first sequence valve and the second sequence valve are leader sequence valve.
Further, the oil circuit that rotation energy recovery valve is communicated with revolution accumulator is provided with overflow valve.
Further, also there is one way valve between overflow valve and revolution accumulator.
Movable arm potential energy recovery valve comprises pilot operated directional control valve, and wherein the C mouth of pilot operated directional control valve joins with the swing arm of main control valve and is connected, and the D mouth of pilot operated directional control valve is connected with swing arm accumulator oil-in, and the E mouth of pilot operated directional control valve is connected with the rodless cavity of boom cylinder.
Further, the oil circuit that pilot operated directional control valve is communicated with swing arm accumulator is provided with reducing valve, and the F mouth of reducing valve is connected with the rodless cavity of boom cylinder.
Energy release control valve comprises the first reversal valve, the second reversal valve, the 3rd reversal valve, the first shuttle valve and the second shuttle valve, the oil-in of described second reversal valve is connected with the oil-out of revolution accumulator, and the oil-in of the 3rd reversal valve is connected with the oil-out of swing arm accumulator; Second reversal valve is connected with the oil-in of the second shuttle valve respectively with the 3rd reversal valve oil-out, and the oil-out of the second shuttle valve is connected with servo-motor; The oil-in of the first shuttle valve is connected with the oil-out of swing arm accumulator with revolution accumulator respectively, and the oil-out of the first shuttle valve is connected with the oil-in of the first reversal valve, and the oil-out of the first reversal valve connects fuel tank.
Described servo-motor is constant displacement hydraulic motor or variable hydraulic motor.
Compared with prior art, the present invention adopts oil-liquid hybrid electric system, movable arm potential energy and revolution overflow energy is all recycled in accumulator, can provides auxiliary power when system needs for system.The specific power of accumulator is higher, can absorb the energy that executing agency discharges at short notice fast, and directly be released into servo-motor when needed, improve the organic efficiency of energy-recuperation system; To greatest extent the energy of excavator system loss is reclaimed, reduce the heating of system, simplify system.
Accompanying drawing explanation
Fig. 1 is the excavator control system schematic diagram of prior art;
Fig. 2 is control system schematic diagram of the present invention;
Fig. 3 is the schematic diagram of rotation energy recovery valve 6 in the present invention;
Fig. 4 is the schematic diagram of movable arm potential energy recovery valve 10 in the present invention;
Fig. 5 is the schematic diagram of Energy release control valve 9 in the present invention.
In figure: 1, hydraulic pump; 2, motor; 3, main control valve; 4, boom cylinder; 5, rotary motor; 6, rotation energy recovery valve; 7, accumulator is turned round; 8, swing arm accumulator; 9, Energy release control valve; 10, movable arm potential energy recovery valve; 11, servo-motor, 12, the first sequence valve; 13, the second sequence valve; 14, overflow valve; 15, the first reversal valve; 16, the second reversal valve; 17, the second shuttle valve; 18, the 3rd reversal valve; 19, reducing valve; 20, pilot operated directional control valve; 21, overflow valve; 22, one way valve.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 2, a kind of excavator control system of oil-liquid hybrid electric, comprise hydraulic pump 1, motor 2, main control valve 3, boom cylinder 4, rotary motor 5, rotation energy recovery valve 6 and movable arm potential energy recovery valve 10, two oil-ins of described rotation energy recovery valve 6 are connected with B mouth with the A mouth of rotary motor 5 respectively, and the oil-out of rotation energy recovery valve 6 is connected with revolution accumulator 7;
The oil-in of movable arm potential energy recovery valve 10 is connected with the rodless cavity of boom cylinder 4, and the oil-out of movable arm potential energy recovery valve 10 is connected with swing arm accumulator 8;
Revolution accumulator 7 is all connected with the oil-in of Energy release control valve 9 with the oil-out of swing arm accumulator 8; The release hydraulic fluid port of fault offset recovery valve 9 is connected with the oil-in of servo-motor 11, and servo-motor 11 is connected with hydraulic pump 1, servo-motor 11 outputting power coaxial with motor 2.
Revolution accumulator 7 reclaims revolution overflow energy, swing arm accumulator 8 reclaims movable arm potential energy, and fault offset recovery valve 9 is opened when the supplementary power of needs, by the Energy transfer after recovery to servo-motor 11, servo-motor 11 is connected with the output shaft of motor 2, for system provides the power of mixing.
As shown in Figure 3, described rotation energy recovery valve 6 is the first sequence valve 12 and the second sequence valve 13 in parallel, the oil-in of the first sequence valve 12 is connected with the A mouth of rotary motor 5, the oil-in of the second sequence valve 13 is connected with the B mouth of rotary motor 5, and the first sequence valve 12 is all connected with revolution accumulator 7 with the oil-out of the second sequence valve 13.When rotary motor 5 starts, inlet pressure raises, and when rotary motor 5 is braked, oil-out pressure raises, and the unlatching of selecting first sequence valve 12 or second sequence valve 13 higher according to pressure, the hydraulic oil of overflow enters in accumulator and reclaims.
Preferably, the first sequence valve 12 and the second sequence valve 13 are leader sequence valve.The leakage hole of leader sequence valve is connected with fuel tank, to ensure that rotary motor operating pressure meets the demands, is more applicable for the occasion of high pressure, low discharge.
Further, the oil circuit that rotation energy recovery valve 6 is communicated with revolution accumulator 7 is provided with overflow valve 21.Described overflow valve 21 reclaims the maximum pressure of fluid for limiting further, protection whole system.
Further, between overflow valve 14 and revolution accumulator 7, also there is one way valve 22.One way valve 22 has reverse cutoff function, can prevent the hydraulic oil backflow of reclaiming from damaging system.
As shown in Figure 4, movable arm potential energy recovery valve 10 comprises pilot operated directional control valve 20, wherein the C mouth of pilot operated directional control valve 20 joins with the swing arm of main control valve 3 and is connected, and the D mouth of pilot operated directional control valve 20 is connected with swing arm accumulator 8 oil-in, and the E mouth of pilot operated directional control valve 20 is connected with the rodless cavity of boom cylinder 4.Pilot operated directional control valve 20 commutates according to the fluid of pressure oil in boom cylinder 4 rodless cavity, when swing arm rises or fine motion does, the spool position of pilot operated directional control valve 20 is home position, and the swing arm UNICOM of described main control valve 3 crosses pilot operated directional control valve and is communicated with the rodless cavity of boom cylinder 4; When swing arm declines rapidly, the rodless cavity pressure of boom cylinder 4 rises rapidly, and promote the spool action of pilot operated directional control valve 20, the hydraulic oil in boom cylinder 4 rodless cavity enters accumulator by pilot operated directional control valve 20.
Further, the oil circuit that pilot operated directional control valve 20 is communicated with swing arm accumulator 8 is provided with reducing valve 19, and the F mouth of reducing valve 19 is connected with the rodless cavity of boom cylinder 4.Pressure compensation effect done by reducing valve 19, and the flow flowing through pilot operated directional control valve 20 is kept relative stability.
As shown in Figure 5, Energy release control valve 9 comprises the first reversal valve 15, second reversal valve 16, the 3rd reversal valve 18, first shuttle valve 14 and the second shuttle valve 17, the oil-in of described second reversal valve 16 is connected with the oil-out of revolution accumulator 7, and the oil-in of the 3rd reversal valve 18 is connected with the oil-out of swing arm accumulator; Second reversal valve 16 is connected with the oil-in of the second shuttle valve 17 respectively with the 3rd reversal valve 18 oil-out, and the oil-out of the second shuttle valve 17 is connected with servo-motor 11; The oil-in of the first shuttle valve 14 is connected with the oil-out of swing arm accumulator 8 with revolution accumulator 7 respectively, and the oil-out of the first shuttle valve 14 is connected with the oil-in of the first reversal valve 15, and the oil-out of the first reversal valve 15 connects fuel tank.First shuttle valve 14 and the second shuttle valve 17 limit the flow direction of hydraulic oil, prevent hydraulic oil reflux from destroying system; First reversal valve 15 can make the fluid do not released in accumulator enter fuel tank through the first shuttle valve 14 earial drainage after opening.
Described servo-motor 11 is constant displacement hydraulic motor or variable hydraulic motor.
Operating principle is as follows:
Time rotary motor 5 starts or brakes, when the hydraulic oil of rotary motor 5 reaches the oil pressure relief P of sequence valve setting, rotation energy recovery valve 6 is started working, hydraulic oil enters the first sequence valve 12 or the second sequence valve 13 by the A mouth of rotary motor 5 or B mouth, first sequence valve 12 or the second sequence valve 13 are opened, and revolution overflow energy are recycled to revolution accumulator 7.Described first sequence valve 12 and the second sequence valve 13 are guide type sequence valve, and leakage hole is connected with fuel tank, to ensure that rotary motor operating pressure meets the demands, is applicable to the occasion of high pressure, low discharge.Described overflow valve 21 reclaims the maximum pressure of fluid for limiting further, protection whole system; One way valve 22 has reverse cutoff function, can prevent the hydraulic oil backflow of reclaiming from damaging system.
When boom cylinder 4 stretches out and fine motion is retracted, movable arm potential energy recovery valve 10 does not work, and pilot operated directional control valve 20 is in right position, and main control valve 3 is connected with the rodless cavity of boom cylinder 4 by pilot operated directional control valve 20.
When boom cylinder 4 fast retractile, movable arm potential energy recovery valve 10 works, pilot operated directional control valve 20 is in left position, hydraulic oil in boom cylinder 4 rodless cavity enters swing arm accumulator 8 through pilot operated directional control valve 20 and reclaims movable arm potential energy, pressure compensation effect done by reducing valve 19 simultaneously, and the flow flowing through pilot operated directional control valve 20 is kept relative stability.
When system works needs supplementary power, Energy release control valve 9 works, and the energy be stored in revolution accumulator 7 and swing arm accumulator 8 is supplied to servo-motor 11, and servo-motor 11 Host actuating pump 1 together with motor 2 operates.When turn round in accumulator 7 or swing arm accumulator 8 have can discharge fluid time, the second reversal valve 16 or the 3rd reversal valve 18 are opened, pressure oil enters servo-motor 11 through the second shuttle valve 17; After excavator is shut down, open the first reversal valve 15, the fluid do not released in accumulator enters fuel tank through the first shuttle valve 14 earial drainage.
Movable arm potential energy and revolution overflow energy are all recycled in accumulator by the present invention, can provide auxiliary power, improve the organic efficiency of energy-recuperation system when system needs for system, reclaim to greatest extent to the energy of excavator system loss.
Claims (9)
1. the excavator control system of an oil-liquid hybrid electric, comprise hydraulic pump (1), motor (2), main control valve (3), boom cylinder (4) and rotary motor (5), it is characterized in that: also comprise rotation energy recovery valve (6) and movable arm potential energy recovery valve (10), two oil-ins of described rotation energy recovery valve (6) are connected with B mouth with the A mouth of rotary motor (5) respectively, and the oil-out of rotation energy recovery valve (6) is connected with revolution accumulator (7);
The oil-in of movable arm potential energy recovery valve (10) is connected with the rodless cavity of boom cylinder (4), and the oil-out of movable arm potential energy recovery valve (10) is connected with swing arm accumulator (8);
Revolution accumulator (7) is all connected with the oil-in of Energy release control valve (9) with the oil-out of swing arm accumulator (8); The release hydraulic fluid port of fault offset recovery valve (9) is connected with the oil-in of servo-motor (11), servo-motor (11) is connected with hydraulic pump (1), servo-motor (11) and motor (2) coaxial outputting power.
2. the excavator control system of oil-liquid hybrid electric as claimed in claim 1, it is characterized in that: described rotation energy recovery valve (6) is the first sequence valve (12) in parallel and the second sequence valve (13), the oil-in of the first sequence valve (12) is connected with the A mouth of rotary motor (5), the oil-in of the second sequence valve (13) is connected with the B mouth of rotary motor (5), and the first sequence valve (12) is all connected with revolution accumulator (7) with the oil-out of the second sequence valve (13).
3. the excavator control system of oil-liquid hybrid electric as claimed in claim 2, is characterized in that: the first sequence valve (12) and the second sequence valve (13) are leader sequence valve.
4. the excavator control system of oil-liquid hybrid electric as claimed in claim 3, is characterized in that: the oil circuit that rotation energy recovery valve (6) is communicated with revolution accumulator (7) is provided with overflow valve (21).
5. the excavator control system of oil-liquid hybrid electric as claimed in claim 4, is characterized in that: also have one way valve (22) between overflow valve (14) and revolution accumulator (7).
6. the excavator control system of the oil-liquid hybrid electric as described in claim as arbitrary in claim 1 to 5, it is characterized in that: movable arm potential energy recovery valve (10) comprises pilot operated directional control valve (20), wherein the C mouth of pilot operated directional control valve (20) joins with the swing arm of main control valve (3) and is connected, the D mouth of pilot operated directional control valve (20) is connected with swing arm accumulator (8) oil-in, and the E mouth of pilot operated directional control valve (20) is connected with the rodless cavity of boom cylinder (4).
7. the excavator control system of oil-liquid hybrid electric as claimed in claim 6, it is characterized in that: the oil circuit that pilot operated directional control valve (20) is communicated with swing arm accumulator (8) is provided with reducing valve (19), the F mouth of reducing valve (19) is connected with the rodless cavity of boom cylinder (4).
8. the excavator control system of oil-liquid hybrid electric as claimed in claim 7, it is characterized in that: Energy release control valve (9) comprises the first reversal valve (15), the second reversal valve (16), the 3rd reversal valve (18), the first shuttle valve (14) and the second shuttle valve (17), the oil-in of described second reversal valve (16) is connected with the oil-out of revolution accumulator (7), and the oil-in of the 3rd reversal valve (18) is connected with the oil-out of swing arm accumulator; Second reversal valve (16) is connected with the oil-in of the second shuttle valve (17) respectively with the 3rd reversal valve (18) oil-out, and the oil-out of the second shuttle valve (17) is connected with servo-motor (11); The oil-in of the first shuttle valve (14) is connected with the oil-out of swing arm accumulator (8) with revolution accumulator (7) respectively, the oil-out of the first shuttle valve (14) is connected with the oil-in of the first reversal valve (15), and the oil-out of the first reversal valve (15) connects fuel tank.
9. the excavator control system of oil-liquid hybrid electric as claimed in claim 8, is characterized in that: described servo-motor (11) is constant displacement hydraulic motor or variable hydraulic motor.
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| CN105366579A (en) * | 2015-11-27 | 2016-03-02 | 中联重科股份有限公司 | Crane and hydraulic control system thereof |
| CN105723033A (en) * | 2016-01-20 | 2016-06-29 | 株式会社小松制作所 | Engine control device for work machine, work machine, and method for controlling engine of work machine |
| CN105951920A (en) * | 2016-06-20 | 2016-09-21 | 浙江大学 | Excavator rotation kinetic energy recycling and oil supplementing device and method |
| CN106939907A (en) * | 2016-05-12 | 2017-07-11 | 华若延 | A kind of energy-recuperation system for building machinery |
| CN108729492A (en) * | 2018-06-06 | 2018-11-02 | 马鞍山松鹤信息科技有限公司 | A kind of oil-liquid hybrid electric excavator potential energy recovery method |
| CN110499794A (en) * | 2019-08-30 | 2019-11-26 | 中国矿业大学 | A kind of heavily loaded movable arm potential energy recycling system and its control method of large hydraulic excavator |
| CN112555207A (en) * | 2020-12-01 | 2021-03-26 | 上海华兴数字科技有限公司 | Hydraulic control system and mechanical equipment |
| CN112594262A (en) * | 2020-12-16 | 2021-04-02 | 徐州徐工挖掘机械有限公司 | Energy recovery system for construction machine and construction machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105366579A (en) * | 2015-11-27 | 2016-03-02 | 中联重科股份有限公司 | Crane and hydraulic control system thereof |
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| CN105951920B (en) * | 2016-06-20 | 2018-03-16 | 浙江大学 | A kind of excavator rotary kinetic energy recovery and recharging oil device and its method |
| CN105951920A (en) * | 2016-06-20 | 2016-09-21 | 浙江大学 | Excavator rotation kinetic energy recycling and oil supplementing device and method |
| CN108729492A (en) * | 2018-06-06 | 2018-11-02 | 马鞍山松鹤信息科技有限公司 | A kind of oil-liquid hybrid electric excavator potential energy recovery method |
| CN110499794A (en) * | 2019-08-30 | 2019-11-26 | 中国矿业大学 | A kind of heavily loaded movable arm potential energy recycling system and its control method of large hydraulic excavator |
| CN112555207A (en) * | 2020-12-01 | 2021-03-26 | 上海华兴数字科技有限公司 | Hydraulic control system and mechanical equipment |
| CN112594262A (en) * | 2020-12-16 | 2021-04-02 | 徐州徐工挖掘机械有限公司 | Energy recovery system for construction machine and construction machine |
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