CN102418354B - Pump/motor-based parallel-series hybrid hydraulic excavator driving system - Google Patents
Pump/motor-based parallel-series hybrid hydraulic excavator driving system Download PDFInfo
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- CN102418354B CN102418354B CN 201110336363 CN201110336363A CN102418354B CN 102418354 B CN102418354 B CN 102418354B CN 201110336363 CN201110336363 CN 201110336363 CN 201110336363 A CN201110336363 A CN 201110336363A CN 102418354 B CN102418354 B CN 102418354B
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Abstract
The invention discloses a pump/motor-based parallel-series hybrid hydraulic excavator driving system, which comprises a movable arm driving cylinder, a mounting mechanism, an electric quantity storage unit, a hydraulic control element, a group of other actuating mechanism consisting of a bucket cylinder, a bucket arm cylinder and a travel hydraulic motor, an engine, a first motor and a variable displacement pump which are in coaxial mechanical transmission connection with the other actuating mechanism, and a second motor, a pump/motor, an electromagnetic clutch and a speed reducer which are in coaxial mechanical transmission connection with the mounting mechanism. The displacement pump is connected to the other actuating mechanism through a hydraulic main control valve; the first motor iselectrically connected with the electric quantity storage unit; the second motor is electrically connected with the electric quantity storage unit; the hydraulic control element is communicated with oil circuits of the movable arm driving cylinder, a parallel hybrid system, a series hybrid system and the other actuating mechanism. The efficiency of an energy recovery system is improved, the flowing flexibility of recoverable energy and the diversity of control modes are increased, and the cost is reduced.
Description
Technical field
The present invention relates to the drive system art, refer in particular to a kind of energy-saving driving system of the series parallel type hydraulic crawler excavator based on pump/motor.
Background technology
Along with being on the rise of energy shortage in the world wide and problem of environmental pollution, the power saving of research hydraulic crawler excavator has important practical significance.The power saving of hydraulic crawler excavator has been subject to the extensive concern of industry.Hydraulic crawler excavator in the course of the work, the gyration that swings up and down and go up mechanism of car of swing arm is more frequent, again because each moving component inertia is all larger, so can discharge a large amount of potential energy and energy during retarding braking, this part energy all consumes usually on the valve port of hydraulic valve, not only waste energy, also can cause the reduction of system's heating and component life.In order to reduce energy loss and system's calorific value, improve the life-span of element, energy reclaims effective measures that become the hydraulic excavator saving energy consumption reduction.In the conventional hydraulic excavator, this part energy is difficult to reclaim, stores and recycles.Introduce hybrid power system in hydraulic crawler excavator, owing to possessing the energy storage devices such as battery or electric capacity in the dynamical system, the recovery of energy and storage all are easy to realize.
At present, the energy recovery scheme of the routine of hybrid power hydraulic excavator mainly comprises two kinds.A kind of is the movable arm potential energy energy recovery scheme: oil back chamber and hydraulic motor that swing arm drives hydraulic cylinder link, and this hydraulic motor and generator coaxle link.The hydraulic oil that swing arm drives the oil cylinder oil back chamber drives the hydraulic motor revolution, is mechanical energy output with hydraulic energy transfer, and drives the generator generating, and threephase AC electric energy is direct current energy and is stored in the middle of the energy-storage travelling wave tube through the frequency converter rectification.When system needed, direct current energy was reverse into the threephase AC electric energy drive motor of target frequency by rectifier, jointly drove load (hydraulic pump) work with motor.Another is upper mechanism of car rotary braking energy-recuperation system: system mainly adopts Motor Drive to substitute conventional hydraulic motors and drives upper mechanism of car, utilize motor two, a large amount of kinetic transformations of discharging during rotary braking of four-quadrant operation become electrical power storage in battery or electric capacity.Electric weight storage element in the system is the energy-storage travelling wave tube for recovering energy both, also is the dc source of motor in the hybrid electric drive system simultaneously.
Generator in this kind technical scheme in the movable arm potential energy recovery scheme is two different motors with motor in the rotary braking energy recovery scheme, cost is higher, complex structure, bulky, the simultaneously recycling of all potential energy and braking kinetic energy is all passed through from the multiple energy of recoverable energy-hydraulic energy-mechanical energy-electric energy-mechanical energy and is transformed, energy flow is very complicated in the system, has affected the energy recovery efficiency of system.
Summary of the invention
In view of this, the present invention is directed to the disappearance of prior art existence, its main purpose provides a kind of series parallel type hydraulic crawler excavator drive system based on pump/motor, it can reduce the energy loss of dynamical system, improve energy recovery efficiency, do not affect the steady operation of motor, improve engine operation efficient.
In order to achieve the above object, the technical solution used in the present invention is:
A kind of series parallel type hydraulic crawler excavator drive system based on pump/motor, comprise that swing arm drives oil cylinder and upper mechanism of car, also comprise electric weight storage element, hydraulic control component, one group of other executing agency that formed by bucket cylinder, bucket arm cylinder and hydraulic motor travel motor, and the motor, the first motor and the variable pump that connect with axis mechanical drive, this variable pump is connected in other executing agencies by the hydraulic pressure main control valve; With the second motor, pump/motor, electromagnetic clutch, the reducer that are connected with the coaxial machine driving of upper mechanism of car;
Described the first motor is electrical connected by the first frequency converter and electric weight storage element, and the second motor also is electrical connected with the electric weight storage element by the second frequency converter;
Described hydraulic control component comprises hydraulic pressure main control valve, proportional direction valve, the first solenoid operated directional valve, the second solenoid operated directional valve, the 3rd solenoid operated directional valve, the 4th solenoid operated directional valve, the oil-out of this variable pump divides two-way: the first via connects the input of hydraulic pressure main control valve, and the second the tunnel meets the hydraulic fluid port P of proportional direction valve; The outlet of hydraulic pressure main control valve connects driving oil cylinder or the hydraulic motor of other executing agencies; The hydraulic fluid port T of proportional direction valve meets the hydraulic fluid port B of the first solenoid operated directional valve, the hydraulic fluid port A connected tank of the first solenoid operated directional valve; The hydraulic fluid port A of proportional direction valve meets the hydraulic fluid port T of the 4th solenoid operated directional valve; The hydraulic fluid port B of proportional direction valve divides two-way, and the first via meets the hydraulic fluid port B of pump/motor, and the second the tunnel meets the hydraulic fluid port A of the 3rd solenoid operated directional valve;
The hydraulic fluid port A of pump/motor divides three the tunnel: the first via meets the hydraulic fluid port A of the second solenoid operated directional valve, the hydraulic fluid port B connected tank of the second solenoid operated directional valve; The second the tunnel meets the hydraulic fluid port P of the 4th solenoid operated directional valve; Third Road meets the hydraulic fluid port B of the 3rd solenoid operated directional valve; The hydraulic fluid port A of described the 4th solenoid operated directional valve links to each other with rod chamber with the rodless cavity of swing arm driving oil cylinder respectively with hydraulic fluid port B.
As a kind of priority scheme, be provided with the voltage sensor of electric weight storage element (8) in described the first frequency converter (6) and judge the first frequency converter (6) and each sensor of the first motor (2) fault.
As a kind of priority scheme, be provided with the voltage sensor of electric weight storage element (8) in described the second frequency converter (9) and judge the second frequency converter (9) and each sensor of the second motor (11) fault.
As a kind of priority scheme, described electric weight storage element (8) is battery or electric capacity.
As a kind of priority scheme, described frequency converter and the second motor are permasyn morot and electric machine controller.
As a kind of preferred version, described electric weight storage element is battery or electric capacity.
The present invention compared with prior art has obvious advantage and beneficial effect, particularly, and as shown from the above technical solution:
One, by formed a cover parallel connection type hybrid power system by the motor, the first motor and the variable pump that connect with axis mechanical drive; Forms one by the second motor that connects with axis mechanical drive and pump/motor and the coaxial motor that links and the first motor and overlap series connection type hybrid power system; The drive system that one cover swing arm drives oil cylinder, upper mechanism of car is connected electromagnetic clutch, reducer and the second motor, pump/motor by coaxial connection again and is formed drive system and an energy-recuperation system that overlaps swing arm driving oil cylinder, upper mechanism of car with energy-recuperation system; Hence one can see that, and dynamical system of the present invention is the series parallel type drive system, both can adopt the serial mixed power drive system for swing arm and upper mechanism of car, also can adopt parallel connection mixed power driving system; Adopt parallel connection mixed power driving system for other executing agency, can reduce the energy loss of dynamical system, improve the reliability of system.
Two, swing arm has two kinds of control models, wherein a kind of control model is the volume control model of pump/motor, another control model is the throttling control model by proportional direction valve, the switching of two kinds of control models can be switched according to the electric weight of electric weight storage element, the states such as fault of motor, improves the reliability operation of system and the operating efficiency of motor.
Three, there are two kinds of control models in upper-part rotation mechanism, wherein a kind of control model is the Electric Machine Control pattern that motor and reducer form, another control model is the throttling control model by proportional direction valve, the switching of two kinds of control models can be switched according to the electric weight of electric capacity, the states such as fault of motor, guarantee like this steady operation of motor, improved the operating efficiency of motor.
Four, take full advantage of the composite move characteristic of swing arm and upper-part rotation in the hydraulic crawler excavator, movable arm potential energy both can directly drive the mechanism of car revolution by pump/motor, also can convert electrical power storage in the electric weight storage element by the pump/motor drive motor.The braking kinetic energy that discharges during upper mechanism of car rotary braking both can directly drive swing arm by pump/motor and rise, and also can convert electrical power storage in the electric weight storage element by motor.Both avoided the multiple conversions in the energy removal process, and improved the efficient that energy reclaims, and increased again the flexibility of energy flow, simultaneously swing arm and revolution shares a cover and drives recovery system, reduced the systematic economy cost.
For more clearly setting forth architectural feature of the present invention and effect, the present invention is described in detail below in conjunction with accompanying drawing and specific embodiment.
Description of drawings
Fig. 1 is the overall structure block diagram of the present invention's preferred embodiment.
The accompanying drawing identifier declaration:
1, motor 2, the first motor
3, variable pump 4, hydraulic pressure main control valve
5, other hydraulic actuating mechanism 6, the first frequency converter
7, the first solenoid operated directional valve 8, electric weight storage element
9, the second frequency converter 10, proportional direction valve
11, the second motor 12, pump/motor
13, electromagnetic clutch 14, reducer
15, upper mechanism of car 16, the second solenoid operated directional valve
17, the 3rd solenoid operated directional valve 18, the 4th solenoid operated directional valve
19, swing arm drives oil cylinder.
The specific embodiment
Please refer to shown in Figure 1, it has demonstrated the concrete structure of the present invention's preferred embodiment, and it comprises that a motor 1, a variable pump 3, a hydraulic pressure main control valve 4, one group of other hydraulic actuating mechanism 5, a pump/motor 12, a proportional direction valve 10, two motor 2,11, two frequency converters 6,9, one cover electric weight storage element 8, four solenoid operated directional valves 7,16,17,18, an electromagnetic clutch 13, one speed reducer 14 and swing arm that are comprised of bucket cylinder, bucket arm cylinder and hydraulic motor travel motor drive oil cylinder 19.
The interconnected relationship of each building block is as follows:
Motor 1, the first motor 2 and variable pump 3 threes connect to form a cover parallel connection type hybrid power system with axis mechanical drive;
The second motor 11 is connected with pump/motor to connect with axis mechanical drive and is linked, and it forms one and overlap series connection type hybrid power systems with the coaxial motor that links 1, the first motor 2 and variable pump 3 are common;
The oil-out of variable pump 3 divides two-way: the first via connects the input of hydraulic pressure main control valve 4, and the second the tunnel meets the hydraulic fluid port P of proportional direction valve 10; The outlet of hydraulic pressure main control valve 4 connects driving oil cylinder or the hydraulic motor of other hydraulic actuating mechanism 5; The hydraulic fluid port T of proportional direction valve 10 meets the hydraulic fluid port B of the first solenoid operated directional valve 7, the hydraulic fluid port A connected tank of the first solenoid operated directional valve 7; The hydraulic fluid port A of proportional direction valve 10 meets the hydraulic fluid port T of the 4th solenoid operated directional valve 18; The hydraulic fluid port B of proportional direction valve 10 divides two-way, and the first via meets the hydraulic fluid port B of pump/motor 12, and the second the tunnel meets the hydraulic fluid port A of the 3rd solenoid operated directional valve 17;
The hydraulic fluid port A of pump/motor 12 divides three the tunnel: the first via meets the hydraulic fluid port A of the second solenoid operated directional valve 16, the hydraulic fluid port B connected tank of the second solenoid operated directional valve 16; The second the tunnel meets the hydraulic fluid port P of the 4th solenoid operated directional valve 18; Third Road meets the hydraulic fluid port B of the 3rd solenoid operated directional valve 17;
The hydraulic fluid port A of the 4th solenoid operated directional valve 9 links to each other with rod chamber with the rodless cavity of swing arm driving oil cylinder 19 respectively with hydraulic fluid port B.
The first motor 2 is electrical connected with electric weight storage element 8 by the first frequency converter 6, and the second motor 11 also is electrical connected with electric weight storage element 8 by the second frequency converter 9.
In the present embodiment, described frequency converter and motor can be selected permasyn morot and electric machine controller.
Be provided with the voltage sensor of electric weight storage element 8 in described the first frequency converter 6 and judge the first frequency converter 6 and each sensor of the first motor 2 faults, and can outwards export the voltage of electric weight storage element 8 and the fault-signal of the first frequency converter 6 and the first motor 2 by bus.Be provided with the voltage sensor of electric weight storage element 8 in described the second frequency converter 9 and judge the second frequency converter 9 and each sensor of the second motor 11 faults, and can outwards export the voltage of electric weight storage element 8 and the fault-signal of the second frequency converter 9 and the second motor 11 by bus.
Specific works principle of the present invention is as follows:
The controller of excavator (not shown) gathers with data by the pressure signal to pilot control handle (not shown) output and processes, obtain pilot control pressure, judge that the mode of operation obtain swing arm is in rising and still is in and transfers and the mode of operation of upper mechanism of car is in left revolution or right-hand rotation, the controller of excavator is accepted frequency converter 6 and 9 output signals simultaneously, judge and obtain the voltage signal of electric weight storage element 8 and the fault-signal of frequency converter 6 and 9, to motor 1, variable pump 3, the first solenoid operated directional valve 7, the second solenoid operated directional valve 16, the 3rd solenoid operated directional valve 17, the 4th solenoid operated directional valve 18, proportional reversing valve 10 sending controling instructions, thereby the throttle of control engine 1, the discharge capacity of variable pump 3, the first solenoid operated directional valve 7, the second solenoid operated directional valve 16, the 3rd solenoid operated directional valve 17, the station of the 4th solenoid operated directional valve 18, the spool displacement of proportional reversing valve.The signal that frequency converter 6 and 9 transmits by the controller (not shown) that receives excavator sends control instruction to the first motor 2 and the second motor 11, to control mode of operation and the rotating speed of target of the first motor 2 and the second motor 11.
Concrete control procedure of the present invention is as follows:
(1), the independent vertical motion of swing arm
When the second motor 11 fault-free, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, is operated in left station; The electromagnet of proportional direction valve 10 all must not be electric, is operated in middle bit pattern; The electromagnet of the first solenoid operated directional valve 7 gets electric; The electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not be electric; Electromagnetic clutch 13 unclamps; The speed that swing arm rises by regulating the second motor 11 rotating speed and the discharge capacity of pump/motor 12 control.
When the second motor 11 broke down, the left side electromagnet of the 4th solenoid operated directional valve 18 got electric, is operated in left station, and the electromagnet of the first solenoid operated directional valve 7 gets electric, and the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not be electric; Electromagnetic clutch 13 unclamps, and the control electric current of the left side electromagnet by regulating proportional direction valve 10 is controlled the speed that swing arm rises.This moment, energy source was in the parallel connection mixed power driving system that is comprised of motor 1, the first motor 2 and variable pump 3.
(2), swing arm is transferred separately action
When the second motor 11 fault-free, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, is operated in left station; The electromagnet of proportional direction valve 10 all must not be electric, is operated in middle bit pattern; The electromagnet of the first solenoid operated directional valve 7 gets electric, and the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not be electric, and electromagnetic clutch 13 unclamps; The speed that swing arm is transferred is controlled by the rotating speed of regulating the second motor 11 and the discharge capacity of regulating pump/motor 12;
When the second motor 11 broke down, the left side electromagnet of the 4th solenoid operated directional valve 18 got electric, is operated in left station; The electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the second solenoid operated directional valve 16 must not be electric, the electromagnet of the 3rd solenoid operated directional valve 17 gets electric, electromagnetic clutch 13 unclamps, the control electric current of the right electromagnet by regulating proportional direction valve 10 is controlled the speed that swing arm is transferred, and system can not reclaim swing arm lower time and put the potential energy of release this moment.
(3), the independent left revolution action of upper mechanism of car
When the second motor 11 fault-free, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, is operated in meta, and the electromagnet of proportional direction valve 10 all must not be electric, is operated in middle bit pattern; That the electromagnet of the first solenoid operated directional valve 7 gets is electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not electricity, electromagnetic clutch 13 closures; At this moment, upper mechanism of car 15 adopts motor drive mode, its left speed of gyration is by regulating the rotating speed of the second motor 11, when upper mechanism of car 15 revolutions are accelerated, the second motor 11 is operated in electric model, when upper mechanism of car 15 was in braking procedure, the second motor 11 was operated in power generation mode, and the braking kinetic energy that upper mechanism of car 15 rotary brakings are discharged changes into electrical power storage in electric weight storage element 8.
When the second motor 11 breaks down, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the first solenoid operated directional valve 7 gets electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not be electric, electromagnetic clutch 13 closures, the control electric current of the left side electromagnet by regulating proportional direction valve 10 is controlled upper mechanism of car 15 left rotating speed.
(4), the independent right-hand rotation action of getting on the bus
When the second motor 11 fault-free, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, is operated in meta, and the electromagnet of proportional direction valve 10 all must not be electric, is operated in middle bit pattern; The electromagnet of the first solenoid operated directional valve 7 gets electric, and the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not be electric, electromagnetic clutch 13 closures; At this moment, upper mechanism of car 15 adopts motor drive mode, its right-hand rotation speed is by regulating the rotating speed of the second motor 11, when upper mechanism of car 15 revolutions are accelerated, the second motor 11 is operated in electric model, when being in braking procedure when getting on the bus, the second motor 11 is operated in power generation mode, and the braking kinetic energy that upper mechanism of car 15 rotary brakings are discharged changes into electrical power storage in electric weight storage element 8.
When the second motor 11 breaks down, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the first solenoid operated directional valve 7 gets electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not be electric, electromagnetic clutch 13 closures, the control electric current of the right electromagnet by regulating proportional direction valve 10 is controlled the speed of the right-hand rotation of getting on the bus.
(5), swing arm rises and the left revolution composite move of upper mechanism of car
When the second motor 11 fault-free, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, is operated in left station, and the electromagnet of proportional direction valve 10 all must not be electric, is operated in middle bit pattern; The electromagnet of the first solenoid operated directional valve 7 gets electric, and the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not be electric; The speed that swing arm rises is controlled by the discharge capacity of regulating pump/motor 12 according to the current rotating speed of the second motor 11 and the corresponding target flow of target velocity of swing arm rising; Electromagnetic clutch 13 adhesives are regulated the rotating speed of the second motor 11 and are regulated mechanism of car 15 left speeds of gyration; When upper mechanism of car 15 rotary braking, the needed power that rises when swing arm is during less than rotary braking power, part rotary braking energy drives the swing arm rising by driving pump/motor 12, and remaining rotary braking energy is operated in power generation mode by the second motor 11 and converts electrical power storage in electric weight storage element 8.The needed power that rises when swing arm is during greater than rotary braking power, and all rotary braking energy drive swing arms and rise by driving pump/motor 12, and not enough energy is operated in electric model by the second motor 11 to be provided; The rotary braking energy of mechanism of car 15 at first guarantees swing arm rising institute energy requirement on this moment, realizes once reclaiming, and unnecessary energy changes into electric energy, realizes secondary recovery.
When the second motor 11 breaks down, when system sets the swing arm priority function by display screen, swing arm relatively revolution is preferential, after system must guarantee that swing arm rises to certain position, just can turn round, electromagnetic clutch 13 unclamps, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in left station, the electromagnet of the electromagnet of the first solenoid operated directional valve 7 and the 3rd solenoid operated directional valve 17 gets electric, the electromagnet of the second solenoid operated directional valve 16 must not electricity, and the control electric current of the left side electromagnet by regulating proportional direction valve 10 is controlled the speed that swing arm rises; After swing arm rose to the target location, the electromagnet of the 4th solenoid operated directional valve 18 must not electricity, is operated in meta, electromagnetic clutch 13 closures, and the control electric current of the left side electromagnet by regulating proportional direction valve 10 is controlled upper mechanism of car 15 left rotating speed.When system display is not set as the swing arm optimizational function, turn round relative swing arm preferential, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not electricity, electromagnetic clutch 13 closures, and the control electric current of the left side electromagnet by regulating proportional direction valve 10 is controlled upper mechanism of car 15 left rotating speed; When treating the rotary braking pattern, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in left station, energy drives swing arm by rotary braking rises, after revolution stops, electromagnetic clutch 13 unclamps, and the control electric current of the left side electromagnet by regulating proportional direction valve 10 is controlled the speed that swing arm rises.
(6), swing arm rises and the right driving composite move of upper mechanism of car
When the second motor 11 fault-free, the right electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in right working position, the electromagnet of proportional direction valve 10 must not be electric, the electromagnet of the first solenoid operated directional valve 7 must not be electric, the second solenoid operated directional valve 16 gets electric, and the electromagnet of the 3rd solenoid operated directional valve 17 must not be electric, and the speed that swing arm rises is controlled by the discharge capacity of adjusting pump/motor 12 according to the current rotating speed of the second motor 11 and the corresponding target flow of target velocity of swing arm rising; Electromagnetic clutch 13 adhesives are regulated the rotating speed of the second motor 11 and are regulated the right-hand rotation speed of getting on the bus; When upper mechanism of car 15 rotary braking, the needed power that rises when swing arm is during less than rotary braking power, part rotary braking energy drives the swing arm rising by driving pump/motor 12, and remaining rotary braking energy is operated in power generation mode by the second motor 11 and converts electrical power storage in electric weight storage element 8.The needed power that rises when swing arm is during greater than rotary braking power, and all rotary braking power drive swing arms and rise by driving pump/motor 12, and not enough energy is operated in electric model by the second motor 11 to be provided.
When the second motor 11 breaks down, when system sets the swing arm priority function by display screen, swing arm relatively revolution is preferential, after system must guarantee that swing arm rises to certain position, just can turn round, electromagnetic clutch 13 unclamps, the right electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in right working position, the electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not electricity, and the control electric current of the right electromagnet by regulating proportional direction valve 10 is controlled the speed that swing arm rises; After swing arm rises to certain position, the pilot operated handle of swing arm returns meta, and the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, is operated in meta, electromagnetic clutch 13 closures, the control electric current of the right electromagnet by regulating proportional direction valve 10 is controlled the speed of the right-hand rotation of getting on the bus.When system display is not set as the swing arm optimizational function, turn round relative swing arm preferential, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd solenoid operated directional valve 17 all must not electricity, electromagnetic clutch 13 closures, and the control electric current of the right electromagnet by regulating proportional direction valve 10 is controlled the speed of the right-hand rotation of getting on the bus; When treating the rotary braking pattern, the right electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in right working position, energy drives swing arm by upper mechanism of car 15 rotary brakings rises, after revolution stops, electromagnetic clutch 13 unclamps, and the control electric current of the right electromagnet by regulating proportional direction valve 10 is controlled the speed that swing arm rises.
(7), swing arm is transferred and the left revolution composite move of upper mechanism of car
When the second motor 11 fault-free, the right electromagnet of the 4th solenoid operated directional valve 18 gets electric, is operated in right working position, and the electromagnet of proportional direction valve 10 all must not be electric, is operated in middle bit pattern; The electromagnet of the first solenoid operated directional valve 7 must not be electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd electromagnet 17 all must not be electric, and the speed that swing arm is transferred is controlled by the discharge capacity of regulating pump/motor 12 according to the current rotating speed of the second motor 11 and the target velocity that swing arm is transferred.Electromagnetic clutch 13 adhesives are regulated the rotating speed of the second motor 11 and are regulated the left speed of gyration of getting on the bus simultaneously; When revolution is accelerated, when the power of transferring when swing arm accelerates needed power greater than upper-part rotation, the potential energy that discharges when swing arm is transferred can be by after driving pump/motor 12, through mechanism of car 15 left revolutions in electromagnetic clutch 13, reducer 14 rear drives, unnecessary movable arm potential energy is operated in power generation mode by the second motor 11 and changes into electrical power storage in electric weight storage element 8; When upper-part rotation was braked, swing arm was transferred kinetic energy that the potential energy of release and rotary braking discharge and all is operated in generator mode by the second motor 11 and converts electrical power storage in electric weight storage element 8.At this moment, when movable arm potential energy accelerates in upper mechanism of car 15 revolutions, realize the once recovery of potential energy, unnecessary potential energy changes into electric energy by the second motor 11 and realizes secondary recovery, and the rotary braking kinetic energy of going up mechanism of car 15 simultaneously changes into electric energy by the second motor 11 and realizes secondary recovery.
When the second motor 11 breaks down, when system sets the swing arm priority function by display screen, swing arm relatively revolution is preferential, after system must guarantee that swing arm is transferred to certain position, just can turn round, electromagnetic clutch 13 unclamps, the right electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in right working position, the electromagnet of the 3rd solenoid operated directional valve 6 must not be electric, the electromagnet of the first solenoid operated directional valve 7 gets electric, and the electromagnet of the 3rd solenoid operated directional valve 17 gets electric, and the speed that this moment, swing arm was transferred is by the control electric current of the left side electromagnet of adjusting proportional direction valve 10; After swing arm is transferred to the target location, when the pilot operated handle of swing arm is got back to meta, electromagnetic clutch 13 closures, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the electromagnet of the 3rd solenoid operated directional valve 6 must not be electric, and the electromagnet of the second solenoid operated directional valve 7 gets electric, the electromagnet of the 3rd solenoid operated directional valve 17 must not be electric, and mechanism of car 15 speed of gyration left is by the control electric current of the left side electromagnet of adjusting proportional direction valve 10 on this moment.When system display is not set as the swing arm optimizational function, turn round relative swing arm preferential, electromagnetic clutch 13 closures, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the electromagnet of the 3rd solenoid operated directional valve 6 must not be electric, and the electromagnet of the second solenoid operated directional valve 7 gets electric, the electromagnet of the 3rd solenoid operated directional valve 17 must not be electric, and mechanism of car 15 speed of gyration left is by the control electric current of the left side electromagnet of adjusting proportional direction valve 10 on this moment.When treating that mechanism of car 15 is turned back to the target location, upper mechanism of car turns round pilot operated handle revolution meta, electromagnetic clutch 13 unclamps, the right electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in right working position, the electromagnet of the 3rd solenoid operated directional valve 6 must not be electric, and the electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the 3rd solenoid operated directional valve 17 gets electric, and the speed that this moment, swing arm was transferred is by the control electric current of the left side electromagnet of adjusting proportional direction valve 10.
(8), swing arm is transferred and upper mechanism of car right-hand rotation composite move
When the second motor 11 fault-free, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, is operated in left station, and the electromagnet of proportional direction valve 10 all must not be electric, is operated in middle bit pattern; The electromagnet of the first solenoid operated directional valve 7 must not be electric, the electromagnet of the second solenoid operated directional valve 16 and the 3rd electromagnet 17 all must not be electric, and the speed that swing arm is transferred is controlled by the discharge capacity of regulating pump/motor 12 according to the current rotating speed of the second motor 11 and the target velocity that swing arm is transferred.Electromagnetic clutch 13 adhesives are regulated the rotating speed of the second motor 11 and are regulated the right-hand rotation speed of getting on the bus simultaneously; When revolution is accelerated, when the power of transferring when swing arm accelerates needed power greater than upper-part rotation, the potential energy that discharges when swing arm is transferred can be by after driving pump/motor 12, through mechanism of car 15 right-hand rotations in electromagnetic clutch 13, reducer 14 rear drives, unnecessary movable arm potential energy is operated in power generation mode by the second motor 11 and changes into electrical power storage in electric weight storage element 8; When upper-part rotation was braked, swing arm was transferred kinetic energy that the potential energy of release and rotary braking discharge and all is operated in generator mode by the second motor 11 and converts electrical power storage in electric weight storage element 8.At this moment, when movable arm potential energy accelerates in upper mechanism of car 15 revolutions, realize the once recovery of potential energy, unnecessary potential energy changes into electric energy by the second motor 11 and realizes secondary recovery, and the rotary braking kinetic energy of going up mechanism of car 15 simultaneously changes into electric energy by the second motor 11 and realizes secondary recovery.
When the second motor 11 breaks down, when system sets the swing arm priority function by display screen, swing arm relatively revolution is preferential, after system must guarantee that swing arm is transferred to certain position, just can turn round, electromagnetic clutch 13 unclamps, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in left station, the electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the second solenoid operated directional valve 16 must not be electric, and the electromagnet of the 3rd solenoid operated directional valve 17 gets electric, and the speed that this moment, swing arm was transferred is by the control electric current of the right electromagnet of adjusting proportional direction valve 10; After swing arm is transferred to the target location, when the pilot operated handle of swing arm is got back to meta, electromagnetic clutch 13 closures, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the electromagnet of the second solenoid operated directional valve 16 must not be electric, and the electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the 3rd solenoid operated directional valve 17 must not be electric, and mechanism of car 15 right-hand rotation speed are by the control electric current of the right electromagnet of adjusting proportional direction valve 10 on this moment.When system display is not set as the swing arm optimizational function, turn round relative swing arm preferential, electromagnetic clutch 13 closures, the electromagnet of the 4th solenoid operated directional valve 18 must not be electric, be operated in meta, the electromagnet of the second solenoid operated directional valve 16 must not be electric, and the electromagnet of the first solenoid operated directional valve 7 gets electric, the electromagnet of the 3rd solenoid operated directional valve 17 must not be electric, and mechanism of car 15 right-hand rotation speed are by the control electric current of the right electromagnet of adjusting proportional direction valve 10 on this moment.When treating that mechanism of car 15 is turned back to the target location, upper mechanism of car turns round pilot operated handle revolution meta, electromagnetic clutch 13 unclamps, the left side electromagnet of the 4th solenoid operated directional valve 18 gets electric, be operated in left station, the electromagnet of the first solenoid operated directional valve 7 gets electric, and the electromagnet of the second solenoid operated directional valve 16 must not be electric, the electromagnet of the 3rd solenoid operated directional valve 17 gets electric, and the speed that this moment, swing arm was transferred is by the control electric current of the right electromagnet of adjusting proportional direction valve 10;
The judgement of above exercises is judged by the pilot control handle.Electric weight storage element 8 can adopt battery or electric capacity etc. in the real system.When real work, when the electric weight of electric weight storage element 8 hangs down, 2 work of the first motor, the output energy of motor 1 is operated in power generation mode by the first motor 2 and changes into electrical power storage in electric weight storage element 8; When the electric weight of electric weight storage element 8 was higher, the first motor 2 quit work, and the gear of motor 1 falls one grade simultaneously.In the simultaneity factor as long as when electric weight storage element 8 and the first motor 2 broke down, system must quit work.
In sum, design focal point of the present invention is:
One, by formed a cover parallel connection type hybrid power system by the motor, the first motor and the variable pump that connect with axis mechanical drive; Forms one by the second motor that connects with axis mechanical drive and pump/motor and the coaxial motor that links and the first motor and overlap series connection type hybrid power system; The drive system that one cover swing arm drives oil cylinder, upper mechanism of car is connected electromagnetic clutch, reducer and the second motor, pump/motor by coaxial connection again and is formed drive system and an energy-recuperation system that overlaps swing arm driving oil cylinder, upper mechanism of car with energy-recuperation system; Hence one can see that, and dynamical system of the present invention is the series parallel type drive system, both can adopt the serial mixed power drive system for swing arm and upper mechanism of car, also can adopt parallel connection mixed power driving system; Adopt parallel connection mixed power driving system for other executing agency, can reduce the energy loss of dynamical system, improve the reliability of system.
Two, swing arm has two kinds of control models, wherein a kind of control model is the volume control model of pump/motor, another control model is the throttling control model by proportional direction valve, the switching of two kinds of control models can be switched according to the electric weight of electric weight storage element, the states such as fault of motor, improves the reliability operation of system and the operating efficiency of motor.
Three, there are two kinds of control models in upper-part rotation mechanism, wherein a kind of control model is the Electric Machine Control pattern that motor and reducer form, another control model is the throttling control model by proportional direction valve, the switching of two kinds of control models can be switched according to the electric weight of electric capacity, the states such as fault of motor, guarantee like this steady operation of motor, improved the operating efficiency of motor.
Four, take full advantage of the composite move characteristic of swing arm and upper-part rotation in the hydraulic crawler excavator, movable arm potential energy both can directly drive the mechanism of car revolution by pump/motor, also can convert electrical power storage in the electric weight storage element by the pump/motor drive motor.The braking kinetic energy that discharges during upper mechanism of car rotary braking both can directly drive swing arm by pump/motor and rise, and also can convert electrical power storage in the electric weight storage element by motor.Both avoided the multiple conversions in the energy removal process, and improved the efficient that energy reclaims, and increased again the flexibility of energy flow, simultaneously swing arm and revolution shares a cover and drives recovery system, reduced the systematic economy cost.
The above, it only is preferred embodiment of the present invention, be not that technical scope of the present invention is imposed any restrictions, therefore every foundation technical spirit of the present invention all still belongs in the scope of technical solution of the present invention any trickle modification, equivalent variations and modification that above embodiment does.
Claims (4)
1. series parallel type hydraulic crawler excavator drive system based on pump/motor, comprise that swing arm drives oil cylinder (19) and upper mechanism of car (15), it is characterized in that: also comprise electric weight storage element (8), hydraulic control component (4,7,10,16,17,18), one group by bucket cylinder, other executing agencies (5) that bucket arm cylinder and hydraulic motor travel motor form, and the motor (1) that connects with axis mechanical drive, the first motor (2) and variable pump (3), this variable pump (3) is connected in other executing agencies (5) by hydraulic pressure main control valve (4); With the second motor (11), pump/motor (12), electromagnetic clutch (13), the reducer (14) that are connected with axis mechanical drive with upper mechanism of car (15);
Described the first motor (2) is electrical connected by the first frequency converter (6) and electric weight storage element (8), and the second motor (11) also is electrical connected with electric weight storage element (8) by the second frequency converter (9);
Described hydraulic control component comprises hydraulic pressure main control valve (4), proportional direction valve (10), the first solenoid operated directional valve (7), the second solenoid operated directional valve (16), the 3rd solenoid operated directional valve (17), the 4th solenoid operated directional valve (18), the oil-out of this variable pump (3) divides two-way: the first via connects the input of hydraulic pressure main control valve (4), and the second the tunnel meets the hydraulic fluid port P of proportional direction valve (10); The outlet of hydraulic pressure main control valve (4) connects driving oil cylinder or the hydraulic motor of other executing agencies (5); The hydraulic fluid port T of proportional direction valve (10) meets the hydraulic fluid port B of the first solenoid operated directional valve (7), the hydraulic fluid port A connected tank of the first solenoid operated directional valve (7); The hydraulic fluid port A of proportional direction valve (10) meets the hydraulic fluid port T of the 4th solenoid operated directional valve (18); The hydraulic fluid port B of proportional direction valve (10) divides two-way, and the first via meets the hydraulic fluid port B of pump/motor (12), and the second the tunnel meets the hydraulic fluid port A of the 3rd solenoid operated directional valve (17);
The hydraulic fluid port A of pump/motor (12) divides three the tunnel: the first via meets the hydraulic fluid port A of the second solenoid operated directional valve (16), the hydraulic fluid port B connected tank of the second solenoid operated directional valve (16); The second the tunnel meets the hydraulic fluid port P of the 4th solenoid operated directional valve (18); Third Road meets the hydraulic fluid port B of the 3rd solenoid operated directional valve (17); The hydraulic fluid port A of described the 4th solenoid operated directional valve (18) links to each other with rod chamber with the rodless cavity of swing arm driving oil cylinder (19) respectively with hydraulic fluid port B.
2. the series parallel type hydraulic crawler excavator drive system based on pump/motor according to claim 1 is characterized in that: be provided with the voltage sensor of electric weight storage element (8) in described the first frequency converter (6) and judge the first frequency converter (6) and each sensor of the first motor (2) fault.
3. the series parallel type hydraulic crawler excavator drive system based on pump/motor according to claim 1 is characterized in that: be provided with the voltage sensor of electric weight storage element (8) in described the second frequency converter (9) and judge the second frequency converter (9) and each sensor of the second motor (11) fault.
4. the series parallel type hydraulic crawler excavator drive system based on pump/motor according to claim 1, it is characterized in that: described electric weight storage element (8) is battery or electric capacity.
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