CN101435451B - Movable arm potential energy recovery method and apparatus of hydraulic excavator - Google Patents

Movable arm potential energy recovery method and apparatus of hydraulic excavator Download PDF

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CN101435451B
CN101435451B CN 200810143874 CN200810143874A CN101435451B CN 101435451 B CN101435451 B CN 101435451B CN 200810143874 CN200810143874 CN 200810143874 CN 200810143874 A CN200810143874 A CN 200810143874A CN 101435451 B CN101435451 B CN 101435451B
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solenoid valve
generator
energy
hydraulic
accumulator
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CN101435451A (en
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刘少军
黄中华
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中南大学
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Abstract

The invention discloses a method for recovering potential energy of a movable arm of a hydraulic digging machine and a device thereof. The method comprises the following steps: firstly, the potential energy is stored through an energy accumulator in the retraction process of a hydraulic cylinder; and secondly the stored energy in the energy accumulator drives a generator to generate electricity, thereby realizing the recovery of the potential energy of the movable arm of the hydraulic digging machine. A mode for storing the potential energy is to convert the potential energy into pressure energy. The energy accumulator and the generator are connected through a proportioning valve so as to control the rotational speed of the generator. The method realizes high-efficiency recovery of the potential energy of the movable arm of the hydraulic digging machine; the principle of the method is to skillfully change the working time of hydraulic oil for power generation through the function of energy storage of the energy accumulator and provide effective buffering for recovering the potential energy; in addition, through the throttling control of the proportioning valve, the method reduces pressure fluctuation of the hydraulic oil in the power generation process, realizes the adjustment of the working rotational speed of the generator, improves the working efficiency of the generator and further improves the efficiency of energy recovery.

Description

一种液压挖掘机动臂势能回收方法及装置 A hydraulic excavator boom potential recovery method and apparatus

技术领域 FIELD

[0001] 本发明属于机电一体化技术领域,涉及一种液压挖掘机动臂势能回收方法及装置。 [0001] The present invention belongs to the field of electrical and mechanical integration technology, it relates to a hydraulic excavator boom potential recovery method and apparatus.

背景技术 Background technique

[0002] 液压挖掘机是一种典型的周期性作业设备,动臂的下降是其工作周期的一个典型环节。 [0002] The hydraulic excavator is a typical cyclical working apparatus, the boom drop is a typical part of its working cycle. 当液压挖掘机动臂下降时,普通液压挖掘机是通过控制阀的开度来调节工作臂的下降速度,通过关闭控制阀实现动臂下降运动的停止。 When lowering the boom of the hydraulic excavator, a hydraulic excavator normal lowering speed is regulated by controlling the working arm of the opening of the valve, stop the boom-down movement is achieved by closing the control valve. 普通液压挖掘机通常没有能量回收装置,动臂下放过程中释放的势能大部分消耗在控制阀上,造成了能量的浪费。 Common energy recovery is usually not the hydraulic excavator, the boom decentralized most potential energy released during consumption of the control valve, resulting in a waste of energy.

[0003] 混合动力液压挖掘机由于装有蓄电池和发电机,理论上可以把液压挖掘机动臂下降过程中的势能回收成电能并存储于蓄电池中,在适当的时候再用于驱动电动机做功。 [0003] Since the hybrid excavator is equipped with a battery and the generator, the hydraulic excavator can theoretically during boom-down potential energy into electrical energy recovered and stored in the battery, and then at the appropriate time for driving the motor work. 现有的油电混合动力液压挖掘机动臂势能回收方法大多采用在动臂液压缸回油路上串接液压马达和发电机,通过液压马达驱动发电机把动臂的势能回收成电能。 Conventional hybrid hydraulic excavator boom potential recovery method mostly used in oil boom cylinder hydraulic motor loop connected in series and a generator, a generator driven by the hydraulic motor to recover the potential energy of the boom into electrical energy. 由于液压挖掘机动臂下降过程中可以进行能量回收的时间通常小于2秒钟,且回收过程中液压油的压力波动大,导致发电机工作在低效率区、能量回收的效率非常低。 As the hydraulic excavator boom can be lowered during energy recovery time is typically less than 2 seconds, and the pressure of hydraulic oil in the recovery process fluctuations, resulting in a generator in a low efficiency region, the energy recovery efficiency is very low.

发明内容 SUMMARY

[0004] 本发明所要解决的技术问题是提供一种液压挖掘机动臂势能回收方法及装置,以提高液压挖掘机动臂势能的回收效率。 [0004] The present invention solves the technical problem of providing a hydraulic excavator boom potential recovery method and apparatus, in order to improve the recovery efficiency of the hydraulic excavator boom potential energy.

[0005] 本发明的技术解决方案如下: [0005] The technical solutions of the present invention are as follows:

[0006] 一种液压挖掘机动臂势能回收方法,其特征在于,先通过蓄能器把液压缸回缩过程中的势能储存,再将蓄能器中的储能驱动发电机发电,实现液压挖掘机动臂势能的回收。 [0006] A hydraulic excavator boom potential recovery method, characterized in that the first hydraulic cylinder during retraction of the potential energy stored by the accumulator, then the storage drive generators accumulator, of hydraulic excavator boom potential energy recovery.

[0007] 所述储存势能的方式是将势能转换成压力能。 Embodiment [0007] The stored potential energy is converted into potential pressure energy.

[0008] 所述的蓄能器和发电机之间通过比例阀连接以控制发电机的转速。 [0008] between the accumulator and the generator is connected through a proportional valve to control the generator speed.

[0009] 一种液压挖掘机动臂势能回收装置,其特征在于,包括液压缸、油箱、储能器、马达、发电机和储能装置;所述的液压缸的一端通过第一电磁阀与油箱连接;另一端通过第二电磁阀与油箱连接;所述的液压缸的无杆端与储能器通过第三电磁阀连接;所述的储能器通过第四电磁阀、马达与发电机连接;所述的发电机与储能装置电连接。 [0009] A hydraulic excavator boom recovery potential, wherein a hydraulic cylinder, fuel tank, the accumulator, the motor, the generator and the energy storage device; end of said hydraulic cylinder via a first solenoid valve tank connection; the other end of the second solenoid valve connected to the tank through; the end of the rodless cylinder and the accumulator is connected via a third solenoid valve; said accumulator through the fourth solenoid valves, motors and generators connection; generator and electrically connected to said energy storage device.

[0010] 所述的液压挖掘机动臂势能回收装置还包括控制器,所述的控制器与第一电磁阀、第二电磁阀、第三电磁阀和第四电磁阀的控制端连接。 [0010] The hydraulic excavator boom potential energy recovery apparatus further includes a controller, the controller and the control terminal of the first solenoid valve, the second solenoid valve, and the third solenoid valve is connected to the fourth solenoid valve.

[0011 ] 所述的第一电磁阀、第二电磁阀和第三电磁阀均为二位二通电磁阀。 [0011] said first solenoid valve, the second solenoid valve and the third solenoid valves are two-way solenoid valve.

[0012] 所述的第四电磁阀为二位二通比例阀。 [0012] The fourth solenoid valve is two-way proportional valve.

[0013] 所述的发电机通过逆变器与储能装置连接。 [0013] according to the generator via the inverter and the energy storage device.

[0014] 有益效果: [0014] beneficial effects:

[0015] 本发明实现了液压挖掘机动臂势能的高效回收,其原理是巧妙地通过蓄能器的储能作用改变了液压油用于发电的工作时间,给势能的回收提供了有效的缓冲,另外,通过比例阀的节流控制减小了发电过程中液压油的压力波动,实现了发电机工作转速的调节,提高了发电机的工作效率,进而提高了能量回收的效率。 [0015] The present invention enables efficient recovery of the potential energy of the boom of the hydraulic excavator, the principle by accumulator action is subtly changed accumulator operating time of the hydraulic oil for power generation, to provide an effective recovery of potential energy buffer in addition, the throttle control proportional valve reduces the pressure of hydraulic oil during power fluctuations, was used to modify the generator operating speed, improve the efficiency of the generator, thereby improving the energy recovery efficiency.

[0016] 通过蓄能器把液压缸回缩过程中的势能先转换成压力能,然后通过控制器的控制,把蓄能器中的压力油用于驱动发电机发电。 [0016] The hydraulic cylinder by the accumulator during retraction of the potential energy is first converted into pressure energy, and the control of the controller, the pressure oil in the accumulator for driving the generators. 由于蓄能器的储能作用,避免了现有能量回收只能发生在液压缸缩回时的不足,有效延长了能量回收的时间。 Since the action of the accumulator tank, avoiding the conventional energy-recovery can only occur when the hydraulic cylinder is retracted, effectively extending the time of energy recovery.

[0017] 通过控制器调整二位二通比例阀的开度,保持液压油流过发电机时的压差基本保持不变,实现发电机工作转速的调节,确保发电机工作在高效率区。 [0017] adjusting the opening degree of the two-way two-position proportional valve by the controller to maintain fluid flow through the pressure remains substantially constant when the generator, the generator regulation to achieve operating speed, a generator to ensure high efficiency in the area. 由此克服了原有的势能回收装置势能回收效率低的缺点。 Thereby overcoming the original potential energy recovery potential recovery of low efficiency.

附图说明 BRIEF DESCRIPTION

[0018] 图1为液压挖掘机动臂势能能量回收装置示意图。 [0018] FIG. 1 is a hydraulic boom excavator potential energy recovery FIG. 具体实施方式 Detailed ways

[0019] 下面实例是对本发明的进一步说明,而不是限制发明的范围。 [0019] The following examples further illustrate the present invention and not to limit the scope of the invention.

[0020] 实施例1 : [0020] Example 1:

[0021] 如图1所示,油电混合动力液压挖掘机动臂势能回收装置,包括液压缸3、控制器1、蓄能器2、二位二通电磁阀4、5和7、二位二通比例阀6 (其中二位二通电磁阀4、7和5和二位二通比例阀6分别对应发明内容部分的第一电磁阀、第二电磁阀、第三电磁阀和第四电磁阀)、发电机9、液压马达10、逆变器11、储能器12和油箱8,二位二通电磁阀4、5和7 均为常闭电磁阀,二位二通比例阀6为常闭比例阀,二位二通电磁阀4安装在液压缸3有杆腔油口和油箱8之间,二位二通电磁阀7安装在液压缸3无杆腔油口和油箱8之间,二位二通电磁阀5 —端与液压缸3无杆腔的油口相连,另一端与二位二通比例阀6相连。 [0021] 1, hybrid hydraulic excavator boom potential energy recovery device comprises a hydraulic cylinder 3, the controller 1, an accumulator 2, two-way solenoid valves 4, 5 and 7, two 6 two-way proportional valve (wherein the two-way solenoid valves 4,7 and 5, and two two-way valves 6 correspond to the first proportional solenoid valve Summary section, the second solenoid valve, the third solenoid valve and a fourth solenoid valve), the generator 9, the hydraulic motor 10, the inverter 11, 12 and the accumulator tank 8, two-way solenoid valves 4, 5 and 7 are normally closed solenoid valves, two-way proportional valve 6 is normally closed proportional valves, two 4-way solenoid valves 3 mounted between the cylinder rod side chamber 8 and the tank port, two-way solenoid valve 7 is mounted between the cylinder 3 rodless chamber 8 and the tank port , two-way solenoid valves 5 - 3 connected to the end of the rodless cylinder chamber port, the other end of the two-way proportional valve 6 is connected. 蓄能器2安装在二位二通电磁阀5和二位二通比例阀6之间。 The accumulator 2 is mounted two-way solenoid valves 5 and two two-way proportional valve between 6. 二位二通比例阀6之后依次串接了液压马达10、发电机9、逆变器11和储能器12。 After the two-way proportional valve 6 sequentially connected the hydraulic motor 10, the generator 9, the inverter 11 and the accumulator 12. 控制器2的输出分别与二位二通电磁阀4、 5、7、二位二通比例阀6和发电机9相连。 2 are output controller with two-way solenoid valve 4, 5, 7, two two-way proportional valve 9 and the generator 6 are connected. 另外需要说明的是:图1中的标号8对应的是同一个油箱,画成多个只是行业画图的标准。 Further be noted that: reference numeral 8 in FIG. 1 correspond to the same tank, but a plurality of draw drawing industry standards.

[0022] 该装置的工作过程如下:当液压缸3的活塞杆缩回时,如果不需要进行能量回收, 则开启二位二通电磁阀4、7,关闭二位二通电磁阀5和二位二通比例阀6,油箱8中的液压油通过二位二通电磁阀4进入液压缸3的有杆腔,液压缸3无杆腔中的液压油通过二位二通电磁阀7回油箱;如果需要进行能量回收,则先关闭二位二通电磁阀7和二位二通比例阀6,再接通二位二通电磁阀4、5,油箱8中的液压油通过二位二通电磁阀4进入液压缸3的有杆腔,液压缸3无杆腔中的液压油被充入到蓄能器2中。 [0022] The operation of this device is as follows: When the hydraulic cylinder the piston rod 3 is retracted, if no energy recovery, then the open two-way solenoid valves 4,7 closed two-way solenoid valves 5 and two -way proportional valve 6, the fuel tank 8 of the hydraulic oil through the two-way solenoid valve 4 into the hydraulic cylinder 3 has a rod chamber, the cylinder 3 rodless chamber of the hydraulic oil through the two-way solenoid valve 7 back to tank ; if desired energy recovery, to close the two-way solenoid valves 7 and two 6-way proportional valve, and then turned on two-way solenoid valves 4 and 5, the hydraulic oil tank 8 via two-way solenoid valve 4 into the hydraulic cylinder rod chamber 3, the rodless cylinder 3 to the hydraulic oil chamber is charged into the accumulator 2. 当需要进行能量回收时,控制器1 关闭二位二通电磁阀5、7,接通二位二通电磁阀4和二位二通比例阀6,蓄能器2中的压力油流入液压马达10,带动发电机9发电,发电机9产生的电能通过逆变器11存储在储能器12中。 When the need for energy recovery, the controller 1 close two-way solenoid valves 5,7, connected two-way solenoid valves 4 and two two-way proportional valve 6, the oil flows into the accumulator pressure of the hydraulic motor 10, power driven generator 9, the power generated by the generator 9 is stored in the inverter 11 in the accumulator 12.

[0023] 通过蓄能器2把液压缸3回缩过程中的势能先转换成压力能,然后通过控制器1 的控制,把蓄能器2中的压力油用于驱动发电机9发电。 [0023] converted by the accumulator 2 during retraction of the hydraulic cylinder 3 into pressure energy to potential energy, and controlled by the controller 1, the pressure of the oil accumulator 9 for driving the power generator. 由于蓄能器2的储能作用,避免了现有能量回收只能发生在液压缸3缩回时的不足,有效延长了能量回收的时间。 Since the action of the accumulator tank 2, to avoid the lack of the conventional energy recovery only occurs when the hydraulic cylinder 3 is retracted, effectively extending the time of energy recovery.

[0024] 通过控制器1调整二位二通比例阀6的开度,保持液压油流过发电机9时的压差基本保持不变,实现发电机9输出稳定的电能以及实现发动机9工作转速的调节,确保发电机9工作在高效率区。 [0024] 6 opening degree adjustment controller 1 ratio by two two-way, pressure oil flows through the hydraulic retention time of the generator 9 remains substantially unchanged, to achieve stable power output of the generator 9 and to achieve operating speed of the engine 9 regulation, ensure that the generator 9 efficient work area.

Claims (2)

1. 一种液压挖掘机动臂势能回收方法,其特征在于,先通过蓄能器把液压缸回缩过程中的势能储存,再将蓄能器中的储能驱动发电机发电,实现液压挖掘机动臂势能的回收;所述储存势能的方式是将势能转换成压力能; 所述的蓄能器和发电机之间通过比例阀连接以控制发电机的转速; 所述的液压挖掘机动臂势能回收方法是基于液压挖掘机动臂势能回收装置,所述的液压挖掘机动臂势能回收装置,包括液压缸、油箱、蓄能器、马达、发电机和储能装置;所述的液压缸的有杆腔通过第一电磁阀与油箱连接;无杆腔通过第二电磁阀与油箱连接;所述的液压缸的无杆腔与蓄能器通过第三电磁阀连接;所述的蓄能器通过二位二通比例阀、马达与发电机连接;所述的发电机与储能装置电连接;所述的控制器与第一电磁阀、第二电磁阀、第三电磁阀和二位二通 A hydraulic excavator boom potential recovery method, characterized in that the first hydraulic cylinder during retraction of the potential energy stored by the accumulator, then the storage drive generators in the accumulator, the hydraulic excavator achieved potential energy recovery maneuver arm; the approach is to store potential energy is converted into pressure energy potential; connected through the proportional valve between the accumulator and the generator to control generator speed; hydraulic excavator according to potential Energy recovery method is based on the arm hydraulic excavator boom recovery potential, the recovery potential hydraulic excavator boom, a hydraulic cylinder, fuel tanks, accumulators, motors, generators and energy storage means; said hydraulic the rod has a cylinder chamber through a first solenoid valve connected with the tank; a second solenoid valve connected to the tank through the rodless chamber; the rodless cylinder and the accumulator chamber through the third solenoid valve; said accumulator can be connected via two-way proportional valve, motor and generator; generator and electrically connecting the energy storage device; and the controller and the first solenoid valve, the second solenoid valve, and two third solenoid valve two-way 例阀的控制端连接;所述的第一电磁阀、第二电磁阀和第三电磁阀均为二位二通电磁阀; 所述的发电机通过逆变器与储能装置连接; 具体控制方法为:当液压缸的活塞杆缩回时,如果不需要进行能量回收,则开启第一电磁阀和第二电磁阀,关闭第三电磁阀和二位二通比例阀,油箱中的液压油通过第一电磁阀进入液压缸的有杆腔,液压缸无杆腔中的液压油通过第二电磁阀回油箱;如果需要进行能量回收,则先关闭第二电磁阀和二位二通比例阀,再接通第一电磁阀和第三电磁阀,油箱中的液压油通过第一电磁阀进入液压缸C3)有杆腔,液压缸无杆腔中的液压油被充入到蓄能器中;通过控制器调整二位二通比例阀的开度,保持液压油流过发电机时的压差保持不变, 实现发电机输出稳定的电能以及实现发动机工作转速的调节。 EXAMPLE valve control terminal is connected; a first solenoid valve, the second solenoid valve and the third solenoid valves are two-way solenoid valve; said generator is connected via an inverter and the energy storage device; specific control the method is: when the piston rod of the hydraulic cylinder is retracted, if energy recovery is not required, the first solenoid valve and opening the second solenoid valve, closed third solenoid valve and two-way proportional valve, hydraulic oil tank into the hydraulic cylinder by a first solenoid valve rod chamber, the rodless cylinder chamber hydraulic fluid back to tank through the second solenoid valve; if energy recovery is required, the first solenoid valve and closing the second two-way proportional valve and then turning on the first solenoid valve and the third solenoid valve, hydraulic oil tank into the hydraulic cylinder by a first solenoid valve C3) rod chamber, the cylinder rod chamber of the hydraulic oil is charged into the accumulator ; controller by adjusting the degree of opening two-way two-position proportional valve, when the pressure maintaining flow of hydraulic oil through the generator remains constant, to achieve stable power output of the generator and adjusting the engine speed to achieve.
2. 一种液压挖掘机动臂势能回收装置,其特征在于,包括液压缸、油箱、蓄能器、马达、 发电机和储能装置;所述的液压缸的有杆腔通过第一电磁阀与油箱连接;无杆腔通过第二电磁阀与油箱连接;所述的液压缸的无杆腔与蓄能器通过第三电磁阀连接;所述的蓄能器通过二位二通比例阀、马达与发电机连接;所述的发电机与储能装置电连接;所述的控制器与第一电磁阀、第二电磁阀、第三电磁阀和二位二通比例阀的控制端连接;所述的第一电磁阀、第二电磁阀和第三电磁阀均为二位二通电磁阀; 所述的发电机通过逆变器与储能装置连接。 A hydraulic excavator boom recovery potential, wherein a hydraulic cylinder, fuel tanks, accumulators, motors, generators and energy storage means; said hydraulic cylinder has a rod chamber by a first solenoid valve connected to the tank; rodless chamber and a second solenoid valve connected to the tank through; the rodless cylinder chamber and the accumulator is connected via a third solenoid valve; said accumulator by a two-way proportional valve, a motor connected to a generator; generator and electrically connected to said energy storage device; a control terminal of the first controller and the solenoid valve, the second solenoid valve, the third solenoid valve and two-way proportional valve is connected; said first solenoid valve, the second solenoid valve and the third solenoid valves are two-way solenoid valve; said generator is connected via an inverter and the energy storage device.
CN 200810143874 2008-12-09 2008-12-09 Movable arm potential energy recovery method and apparatus of hydraulic excavator CN101435451B (en)

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US7963110B2 (en) 2009-03-12 2011-06-21 Sustainx, Inc. Systems and methods for improving drivetrain efficiency for compressed gas energy storage
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