CN103225321A - Elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method - Google Patents
Elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method Download PDFInfo
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- CN103225321A CN103225321A CN2013101650731A CN201310165073A CN103225321A CN 103225321 A CN103225321 A CN 103225321A CN 2013101650731 A CN2013101650731 A CN 2013101650731A CN 201310165073 A CN201310165073 A CN 201310165073A CN 103225321 A CN103225321 A CN 103225321A
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Abstract
The invention discloses an elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method. According to the method, an electrical control unit can automatically identify the driver's operation intention for a movable arm of a working device of the loading machine through detecting signals of a movable arm operating rod lift gear switch, a movable arm operating rod descent gear switch and a movable arm lift limit switch, so as to control a hydraulic electromagnetic directional valve and to control the storage and release of the elastic rubber band elastic potential energy, and accordingly the recycle and regeneration control for the movable arm potential energy can be realized, so as to reduce the fuel consumption of the loading machine during working process.
Description
Technical field
The present invention relates to a kind of loading arm potential energy reclaiming control method, a kind of more precisely elastic rubber band energy-storage type loading arm potential energy reclaiming control method.
Background technology
In loader loading operation process, loading arm needs frequent lifting and decline, in the moved arm lifting process, Engine driven Hydraulic Pump is controlled boom cylinder through hydraulicdirectional control valve, swing arm is lifted to the discharging height together with scraper bowl and rocking arm, after the scraper bowl discharging, Engine driven Hydraulic Pump is controlled boom cylinder through hydraulicdirectional control valve, with swing arm, scraper bowl and rocking arm drop to work loading height together, in moved arm lifting and decline process, all need motor that power is provided, and swing arm gravitional force wastes, make loader have the oil consumption height, the big deficiency that waits of exhaust emission.
Existing loading arm potential energy recycling and control method adopts the way of recycling that hydraulic pressure reclaims or hydraulic-driven is generated electricity usually, and the oil back chamber that is about to boom cylinder connects a hydraulic motor, and hydraulic motor pumps into high-voltage oil liquid to hydraulic accumulator; Or hydraulic motor linked to each other with motor coaxle, when descending, swing arm makes electric power generation, reclaim the gravitional force that swing arm descends.There is complex structure in this movable arm potential energy recovery method, shortcomings such as energy transformation ratio is low, dynamic response is slow, weight is big, cost height.
Summary of the invention
The objective of the invention is to overcome above-mentioned defective, provide a kind of and can realize the elastic rubber band energy storage type loading arm potential energy reclaiming control method of potential energy reclaiming in the swing arm course of work according to the operation intention of driver to swing arm.
For solving the problems of the technologies described above, elastic rubber band energy-storage type loading arm potential energy reclaiming control method of the present invention, described elastic rubber band energy-storage type loader is equipped with swing arm, fixed pulley, wire rope, elastic rubber band accumulator, ECU, swing arm control stick lifting gear on-off, swing arm control stick decline gear on-off, moved arm lifting limit switch, hydraulic electromagnetic change valve, it is characterized in that may further comprise the steps.
Step 1, detection swing arm control stick lifting gear on-off signal carry out steps 2 then.
Step 2, judge that the swing arm control stick is whether at the lifting gear: when swing arm control stick lifting gear on-off is closed, be judged as moved arm lifting, carry out step 3; Otherwise, be judged as not lifting of swing arm, carry out step 6.
Step 3, detection moved arm lifting limit switch signal carry out steps 4 then.
Step 4, judge whether swing arm arrives the spacing position of lifting: when the moved arm lifting limit switch is closed, be judged as moved arm lifting, carry out step 10 to spacing position; Otherwise, be judged as moved arm lifting not to spacing position, carry out step 5.
Step 5, carry out energy and discharge control, the electromagnetic coil energising, the hydraulic electromagnetic change valve conducting, the elastic rubber band accumulator releases energy, and gets back to step 1 then.
Step 7, judge that the swing arm control stick is whether at the decline gear: when swing arm control stick decline gear on-off is closed, is judged as swing arm and descends, carry out step 8; Otherwise, be judged as swing arm and do not descend, carry out step 9.
Step 8, carry out energy and store control: the electromagnetic coil energising, the hydraulic electromagnetic change valve conducting, elastic rubber band accumulator storage power is got back to step 1 then.
Step 9, be judged as the swing arm control stick, carry out step 10 then floating or the meta position.
Step 10, carry out the energy retentive control: electromagnetic coil keeps outage, the hydraulic electromagnetic change valve shutoff that resets, and the energy of elastic rubber band accumulator remains unchanged.
The present invention compared with prior art, its advantage is:
(1) this method is by the signal of ECU according to detection swing arm control stick lifting gear on-off, swing arm control stick decline gear on-off, moved arm lifting limit switch, automatically identification of driver is to the operation intention of swing arm, and discern swing arm automatically and whether give rise to spacing position, and control elastic rubber band accumulator storage power automatically, release energy and keep energy process;
(2) this method does not influence the operation of driver to moved arm lifting, decline when movable arm potential energy being reclaimed and regenerate control, has guaranteed the processing safety of loader.
Description of drawings
Fig. 1 is the elastic rubber band energy-storage type loading arm potential energy reclaiming apparatus structure schematic diagram of the embodiment of the invention.
Fig. 2 is the longitudinal profile structure and the oil cylinder control oil channel schematic diagram of the elastic rubber band accumulator of the embodiment of the invention.
Fig. 3 is embodiment of the invention elastic rubber band energy-storage type loading arm potential energy reclaiming control system theory of constitution figure.
Fig. 4 is an embodiment of the invention elastic rubber band energy-storage type loading arm potential energy reclaiming control method flow chart.
Figure: 1. Boom 2 front axle frame 3. Fixed pulley 4. Rope 6. Fuel tank 100. Elastic rubber band accumulator 101. Casing 101a. Mounting base 101b. Shell plate 102. Rubber belt clip 103. sealing plug 104. elastic rubber band 105. connecting plate 106. minute rod 107. cavity cover 107a. way inflation valve 108. tension plate 109. rod 109a. rod flange 109b. rod rings 110. rod 111 The piston 112. cylinder 112a. first inlet port 113. cylinder blocks 113a. second inlet port 114. rod chamber 115. rod chamber 500. electronic control unit 501. boom lifting gear lever switch 502 boom down gear lever switch 503. boom lifting limit switch 504. hydraulic solenoid valve 504a. electromagnetic coil 505. boom lever 506. ignition switch
The specific embodiment
Describe the present invention below in conjunction with drawings and Examples.
As shown in Figure 1, elastic rubber band energy storage type loading arm potential energy reclaiming device of the present invention comprises swing arm 1, propons vehicle frame 2, elastic rubber band accumulator 100, fixed pulley 3, wire rope 4, fuel tank 6, ECU 500, swing arm control stick lifting gear on-off 501, swing arm control stick decline gear on-off 502, moved arm lifting limit switch 503, hydraulic electromagnetic change valve 504, ignition switch 506.
As shown in Figure 2, elastic rubber band accumulator 100 of the present invention comprises: housing 101, mounting seat 101a, rubber strip clip 102, sealing-plug 103, elastic rubber band 104, terminal pad 105, branch pull bar 106, cavity capping 107, unidirectional charge valve 107a, tension board 108, pull bar 109, piston rod 110, piston 111, oil cylinder 112, oil cylinder capping 113.
The mounting seat 101a of elastic rubber band accumulator 100 is fixedly mounted on the propons vehicle frame 2, fixed pulley 3 is fixedly mounted on the pulley bracket of propons vehicle frame 2, one end of pull bar 109 is provided with pull bar suspension ring 109b, one end of wire rope 4 is fixedlyed connected with pull bar suspension ring 109b one end of pull bar 109, and the middle part that wire rope 4 other ends are walked around fixed pulley 3 and swing arm 1 is fixedly hinged.
The other end of pull bar 109 is provided with pull bar flange 109a, the pull bar flange 109a end of pull bar 109 is fixedlyed connected with an end face of tension board 108, fixedly connected with an end of piston rod 110 in the other end of tension board 108, the central through hole that the other end of piston rod 110 passes oil cylinder capping 113 is fixedlyed connected with piston 111; Piston 111 is packed in the oil cylinder 112, piston 111 is divided into rod chamber 114 and rodless cavity 115 with the oil cylinder cavity, and the longitudinal axis of the longitudinal axis of the longitudinal axis of pull bar 109 and tension board 108, the longitudinal axis of piston rod 110, piston 111, the longitudinal axis of oil cylinder 112 are on same straight line; Vertical central position of housing 101 is provided with a cylindrical hole, and the bottom of cylindrical hole is provided with circumferential boss, oil cylinder 112 is fixedly mounted on this cylindrical hole of housing 101 by this circumferential boss; Also fixedly connected on the periphery of tension board 108 other ends with an end of six branch pull bars 106, these six branch pull bars 106 are with the longitudinal axis symmetric arrangement of tension board 108, each central through hole that divides the other end of pull bar 106 to pass in the cavity capping 107 is fixedlyed connected with an end face of terminal pad 105, and each terminal pad 105 places in the cavity of housing 101; Be fixedly connected with 16 elastic rubber bands 104 between another end face of each terminal pad 105 and the housing base plate 101b, one end of every elastic rubber band 104 is fixed on the terminal pad 105 with rubber strip clip 102, and the other end of every elastic rubber band 104 also is fixed on the housing base plate 101b with rubber strip clip 102.
The bottom of oil cylinder 112 is provided with the first oil-in 112a, and the first oil-in 112a is communicated to rodless cavity 115; Also be provided with the second oil-in 113a in the oil cylinder capping 113, the second oil-in 113a is communicated to rod chamber 114.
Hydraulic electromagnetic change valve 504 is the two-position four-way hydraulic electromagnetic change valve, the A hydraulic fluid port of hydraulic electromagnetic change valve 504 is connected to the first oil-in 112a by fluid pressure line, the B hydraulic fluid port of hydraulic electromagnetic change valve 504 is connected to the second oil-in 113a by fluid pressure line, and the P of hydraulic electromagnetic change valve 504, T hydraulic fluid port are connected to fuel tank 6 by fluid pressure line.
Swing arm control stick lifting gear on-off 501, swing arm control stick decline gear on-off 502 are installed in respectively on the fixed support of swing arm control stick lift location and down position, and moved arm lifting limit switch 503 is fixed on the propons vehicle frame 2.
The housing 101 of elastic rubber band accumulator 100 and cavity capping 107 form enclosed cavity, charge into nitrogen by unidirectional charge valve 107a to enclosed cavity, charging into nitrogen gas pressure is 100kPa, to prevent erosion and the aging action of atmosphere to elastic rubber band, prolongs the application life of elastic rubber band.
The maximum tension amount of elastic rubber band accumulator 100 greater than swing arm 1 when spacing position drops to extreme lower position wire rope 4 amount of tension 10%～20%, to prevent that elastic rubber band from excessively being stretched, guarantee safe in utilization.
With fixed pulley 3, wire rope 4, elastic rubber band accumulator 100 is at each side layout one cover of propons vehicle frame 2, and two covering devices are installed with the longitudinal axis symmetry of propons vehicle frame 2.
As shown in Figure 3, elastic rubber band energy-storage type loading arm potential energy reclaiming control system of the present invention comprises: ECU 500, swing arm control stick lifting gear on-off 501, swing arm control stick decline gear on-off 502, moved arm lifting limit switch 503, hydraulic electromagnetic change valve 504, ignition switch 506; Wherein, whether swing arm control stick lifting gear on-off 501 is used to detect swing arm control stick gear in lift location, whether swing arm control stick decline gear on-off 502 is used to detect swing arm control stick gear at down position, and moved arm lifting limit switch 503 is used to detect moved arm lifting and whether arrives spacing position; ECU 500 adopts single-chip microcomputer, its input connects swing arm control stick lifting gear on-off 501, swing arm control stick decline gear on-off 502, moved arm lifting limit switch 503, ignition switch 506, be used to judge that the safety when whether the driver gives rise to spacing position to the operation intention of working device of loader swing arm 1 and swing arm 1 is spacing, its output connects the electromagnetic coil 504a of hydraulic electromagnetic change valve 504, be used for to elastic rubber band accumulator 100 storage power and the control that releases energy the control of i.e. swing arm 1 potential energy recovery and regeneration.
As shown in Figure 4, elastic rubber band energy-storage type loading arm potential energy reclaiming control method flow process is.
After connecting ignition switch 506, ECU 500 beginning that powers on, ECU 500 finish power on begin after, carry out step S10.
In step S10, detect swing arm control stick lifting gear on-off 501 signals, carry out step S11 then.
In step S11, ECU 500 judges that the swing arm control stick is whether at the lifting gear: when swing arm control stick lifting gear on-off 501 is closed, be judged as swing arm 1 lifting, carry out step S12; Otherwise, be judged as swing arm 1 not lifting, carry out step S20.
In step S12, detect moved arm lifting limit switch 503 signals, carry out step S13 then.
In step S13, ECU 500 judges whether swing arm arrives the spacing position of lifting: if moved arm lifting limit switch 503 closures then are judged as moved arm lifting to spacing position, carry out step S40; Otherwise, if moved arm lifting limit switch 503 disconnects, then be judged as swing arm and be not lifted to spacing position, carry out step S14.
In step S14, carry out energy and discharge control: ECU 500 control electromagnetic coil 504a energisings, hydraulic electromagnetic change valve 504 conductings, elastic rubber band accumulator 100 releases energy, and gets back to step S10 then.
In step S20, detect swing arm control stick decline gear on-off 502 signals, carry out step S21 then.
In step S21, judge that the swing arm control stick is whether at the decline gear: descend if swing arm control stick decline gear on-off 502 closures then are judged as swing arm 1, carry out step S22; Otherwise, be judged as swing arm 1 and do not descend, carry out step S30.
In step S22, carry out energy and store control: ECU 500 control electromagnetic coil 504a energisings, hydraulic electromagnetic change valve 504 conductings, elastic rubber band accumulator 100 storage power are got back to step 1 then.
In step S30, ECU 500 is judged as swing arm control stick 505 floating or the meta position, carries out step S40 then.
In step S40, carry out the energy retentive control: ECU 500 control electromagnetic coil 504a outages, 504 shutoffs of hydraulic electromagnetic change valve, the energy of elastic rubber band accumulator 100 remains unchanged.
By above-mentioned elastic rubber band energy-storage type loading arm potential energy reclaiming control method, can realize the automatic identification and the control of elastic rubber band energy-storage type loading arm potential energy reclaiming process.
In the loader operation process, when the driver is pushed into the decline gear with swing arm control stick 505, swing arm control stick decline gear on-off 502 closures, loading arm 1 begins to descend, after ECU 500 detects the closure signal of swing arm control stick decline gear on-off 502, the electromagnetic coil 504a energising of ECU 500 control hydraulic electromagnetic change valves 504, hydraulic electromagnetic change valve 504 energising actions; Decline along with loading arm 1, the pull bar 109 that is fixed on the wire rope 4 pulling elastic rubber band accumulators 100 on the swing arm 1 moves upward, pull bar 109 divides pull bar 106 by tension board 108 pullings, divides pull bar 106 through terminal pad 105 elastic rubber band 104 to be stretched again; Pull bar 109 is by tension board 108 pulling piston rods 110 simultaneously, piston rod 110 pulling pistons 111 rise together, the hydraulic oil of rod chamber 114 is discharged from the second oil-in 113a, flow back to fuel tank 6 through hydraulic electromagnetic change valve 504, rodless cavity 115 forms vacuum owing to moving on the piston 111, hydraulic oil passes through the first oil-in 112a through fuel tank 6 and hydraulic electromagnetic change valve 504, is inhaled into rodless cavity 115; When stopping swing arm 1 and descending then hydraulic electromagnetic change valve 504 be repositioned to fastening position, first oil-in 112a of rodless cavity 115 and the second oil-in 113a of rod chamber 114 are all turn-offed by hydraulic electromagnetic change valve 504 at this moment, piston 111 is fixed motionless, piston rod 110, tension board 108, pull bar 109, branch pull bar 106, terminal pad 105 all are maintained fixed motionless, elastic rubber band 104 keeps extended state constant, so just is that the elastic potential energy of elastic rubber band accumulator 100 stores with swing arm 1 falling gravity potential energy converting and energy.
In the loader operation process, when the driver is pushed into the lifting gear with swing arm control stick 505, swing arm control stick lifting gear on-off 501 closures, loading arm 1 beginning lifting, after ECU 500 detects the closure signal of swing arm control stick lifting gear on-off 501, the electromagnetic coil 504a energising of ECU 500 control hydraulic electromagnetic change valves 504, hydraulic electromagnetic change valve 504 energising actions; Elastic rubber band 104 shrinks, and divides pull bar 106 through terminal pad 105 pullings, divides pull bar 106 to move downward through tension board 108 pulling pull bars 109 again, and pull bar 109 rises by wire rope 4 pulling swing arms 1; While tension board 108 pulling piston rods 110 move downward and promote piston 111 and move down, the hydraulic oil of rodless cavity 115 is discharged from the first oil-in 112a, flow back to fuel tank 6 through hydraulic electromagnetic change valve 504, rod chamber 114 is owing to moving down of piston 111 forms vacuum, hydraulic oil passes through the second oil-in 113a through fuel tank 6 and hydraulic electromagnetic change valve 504, is inhaled into rod chamber 114; The elastic potential of elastic rubber band 104 is converted to the gravitional force of swing arm 1 at this moment; When stopping swing arm 1 and rising then hydraulic electromagnetic change valve 504 be repositioned to fastening position, first oil-in 112a of rodless cavity 115 and the second oil-in 113a of rod chamber 114 are all turn-offed by hydraulic electromagnetic change valve 504 at this moment, piston 111 is fixed motionless, piston rod 110, tension board 108, pull bar 109, branch pull bar 106, terminal pad 105 all are maintained fixed motionless, elastic rubber band 104 is maintained at contraction state, and so just the elastic potential energy with elastic rubber band accumulator 100 is converted to the gravitional force that swing arm 1 rises.When swing arm 1 is lifted to the spacing height of lifting, moved arm lifting limit switch 503 closures, ECU 500 control electromagnetic coil 504a outages, elastic rubber band accumulator 100 is in the energy hold mode.
When loader wipe operation or swing arm 1 not lifting off, when not descending, swing arm control stick 505 places floating position or meta at this moment, this moment, ECU 500 control hydraulic electromagnetic change valves 504 can keep de-energized, the hydraulic oil of rod chamber 114 and rodless cavity 115 flows no longer mutually, and elastic rubber band accumulator 100 is in the energy hold mode.
In conjunction with the accompanying drawings embodiments of the present invention have been done detailed description above, but the present invention is not limited to above-mentioned embodiment, in the ken that affiliated technical field those of ordinary skill is possessed, can also under the prerequisite that does not break away from aim of the present invention, make various variations.
Claims (1)
1. elastic rubber band energy-storage type loading arm potential energy reclaiming control method, described elastic rubber band energy-storage type loader is equipped with swing arm (1), fixed pulley (3), wire rope (4), elastic rubber band accumulator (100), ECU (500), swing arm control stick lifting gear on-off (501), swing arm control stick decline gear on-off (502), moved arm lifting limit switch (503), hydraulic electromagnetic change valve (504), it is characterized in that described control method may further comprise the steps:
Step 1, detection swing arm control stick lifting gear on-off (501) signal carry out steps 2 then;
Step 2, judge that the swing arm control stick is whether at the lifting gear: when swing arm control stick lifting gear on-off (501) is closed, be judged as swing arm (1) lifting, carry out step 3; Otherwise, be judged as not lifting of swing arm (1), carry out step 6;
Step 3, detection moved arm lifting limit switch (503) signal carry out steps 4 then;
Step 4, judge that whether swing arm (1) is to being lifted to spacing position: when moved arm lifting limit switch (503) is closed, is judged as swing arm (1) and is lifted to spacing position, carry out step 10; Otherwise, be judged as swing arm (1) and be not lifted to spacing position, carry out step 5;
Step 5, carry out energy and discharge control: electromagnetic coil (504a) energising, hydraulic electromagnetic change valve (504) conducting, elastic rubber band accumulator (100) releases energy, and gets back to step 1 then;
Step 6, detection swing arm control stick decline gear on-off (502) signal carry out steps 7 then;
Step 7, judge that the swing arm control stick is whether at the decline gear: when swing arm control stick decline gear on-off (502) was closed, being judged as swing arm (1) was to descend, and carry out step 8; Otherwise, be judged as swing arm (1) and do not descend, carry out step 9;
Step 8, carry out energy and store control: electromagnetic coil (504a) energising, hydraulic electromagnetic change valve (504) conducting, elastic rubber band accumulator (100) storage power is got back to step 1 then;
Step 9, be judged as swing arm control stick (505), carry out step 10 then floating or the meta position;
Step 10, carry out the energy retentive control: electromagnetic coil (504a) keeps outage, hydraulic electromagnetic change valve (504) shutoff that resets, and the energy of elastic rubber band accumulator (100) remains unchanged.
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| CN2013101650731A CN103225321A (en) | 2013-05-07 | 2013-05-07 | Elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method |
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| CN2013101650731A CN103225321A (en) | 2013-05-07 | 2013-05-07 | Elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998042923A1 (en) * | 1997-03-21 | 1998-10-01 | Mannesmann Rexroth Ag | Hydraulic control system for a mobile work machine, especially a wheel loader |
| CN102203434A (en) * | 2008-10-22 | 2011-09-28 | 卡特彼勒Sarl公司 | Hydraulic control system in working machine |
| CN102734235A (en) * | 2012-07-12 | 2012-10-17 | 三一重工股份有限公司 | Energy recovery hydraulic system and concrete conveying pump |
| WO2012150653A1 (en) * | 2011-05-02 | 2012-11-08 | コベルコ建機株式会社 | Rotation-type working machine |
| CN102852184A (en) * | 2012-05-04 | 2013-01-02 | 山东理工大学 | Hydraulic control system for loader and control method |
-
2013
- 2013-05-07 CN CN2013101650731A patent/CN103225321A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998042923A1 (en) * | 1997-03-21 | 1998-10-01 | Mannesmann Rexroth Ag | Hydraulic control system for a mobile work machine, especially a wheel loader |
| CN102203434A (en) * | 2008-10-22 | 2011-09-28 | 卡特彼勒Sarl公司 | Hydraulic control system in working machine |
| WO2012150653A1 (en) * | 2011-05-02 | 2012-11-08 | コベルコ建機株式会社 | Rotation-type working machine |
| CN102852184A (en) * | 2012-05-04 | 2013-01-02 | 山东理工大学 | Hydraulic control system for loader and control method |
| CN102734235A (en) * | 2012-07-12 | 2012-10-17 | 三一重工股份有限公司 | Energy recovery hydraulic system and concrete conveying pump |
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Application publication date: 20130731 |