CN103452150B - Hybrid power hydraulic excavator system adopting movable arm closed control - Google Patents
Hybrid power hydraulic excavator system adopting movable arm closed control Download PDFInfo
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- CN103452150B CN103452150B CN201310405323.4A CN201310405323A CN103452150B CN 103452150 B CN103452150 B CN 103452150B CN 201310405323 A CN201310405323 A CN 201310405323A CN 103452150 B CN103452150 B CN 103452150B
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Abstract
The invention discloses a hybrid power hydraulic excavator system adopting movable arm closed control, comprising an internal combustion engine, a multitandem valve bank, a variable displacement hydraulic pump, a generator, an electric energy storage unit, a movable arm control system, a rotation control system, a bucket hydraulic cylinder and a bucket rod hydraulic cylinder, wherein a motor with variable rotation speed is used for driving the hydraulic pump with three oil ports to directly control a movable arm hydraulic cylinder, so that the vertical movement of a movable arm of a hydraulic excavator is realized; the rotation of the upper rotation main body of the hydraulic excavator relative to the lower rotation main body is realized through controlling a rotation motor/generator by the rotation control system; a hybrid power drive mode is adopted, the potential energy of the movable arm and the kinetic energy of rotation can be directly converted into electric energy to be stored in the electric energy storage unit. According to the hybrid power hydraulic excavator system adopting movable arm closed control, the recycle and release of the potential energy of the movable arm are conveniently controlled, and the system has the advantages that the energy efficiency is high, the structure is simplified, the fuel consumption of a whole machine is low, the work efficiency and the energy utilization are high, and the like.
Description
Technical field
The present invention relates to a kind of hydraulic crawler excavator of hybrid power, particularly a kind of swing arm adopts the hybrid power hydraulic excavator system of enclosed control mode.
Background technology
Hydraulic crawler excavator in the course of the work due to swing arm, dipper and scraper bowl swing up and down and the gyration of slew gear very frequent, simultaneously, because each moving component inertia ratio is comparatively large, so conventional valve prosecutor formula can waste large energy when digger revolving retarding braking and swing arm decline.In order to reduce waste and the protection Hydraulic Elements of this part energy, the potential energy to hydraulic crawler excavator rotary braking kinetic energy and swing arm are transferred is needed to carry out recycling.The hybrid power type of drive proposed in recent years is that the storage of hydraulic crawler excavator action potential and recycling are provided convenience condition, the patent of invention of 2012.11.07 authorizing, the control device (CN200980110700.3) of hybrid construction machine discloses so a kind of system, adopt hydraulic motor, volume adjustable hydraulic pump and motor generator set are coaxially connected as energy conversion unit, on the one hand by the kinetic energy of the potential energy below excavator swing arm and rotary braking, power storage is converted into in high-tension battery through hydraulic motor-driving generator, also can drive this part energy of volume adjustable hydraulic pump regeneration simultaneously, deficiency is that energy-recuperation system is more complicated, regeneration conversion times is many, efficiency is low, patent of invention 2012.03.07 authorizes: in the control method of hybrid construction machine and hybrid construction machine (CN200880008679.1), the system of generator and motor composition is adopted independently to control the gyration of excavator, deficiency be can only recycling digger revolving braking kinetic energy, and the potential energy below swing arm can not be utilized, also energy-storage units is not set in system.
Summary of the invention
The object of the invention is to overcome the energy loss that existing hybrid power hydraulic excavator drive system energy regenerating mode exists large, the deficiency of high in cost of production, a kind of hybrid power hydraulic excavator drive system controlled based on swing arm enclosed is provided, realize the high efficiente callback recycling of Hydraulic Excavator's Boom potential energy, adopting dynamoelectric machine rotary braking kinetic energy and swing arm to be transferred potential energy is electric energy, be stored in the energy storage unit set up, reclaim unified for two kinds of energy, complement each other and recycle, to reduce the energy ezpenditure of hydraulic crawler excavator operation process to greatest extent.
The hybrid power hydraulic excavator system that swing arm enclosed controls comprises internal combustion engine, banked direction control valves group, becomes displacement hydraulic pump, generator, energy storage unit, swing arm control system, rotary control system, bucket hydraulic cylinder and dipper hydraulic cylinder; It is characterized in that:
Described swing arm control system is made up of swing arm inverter, variable speed motor, control unit, three hydraulic fluid port hydraulic pumps, accumulator, little latus rectum hydraulic control one-way valve, safety valve and swing arm hydraulic cylinder; Described energy storage unit is connected to swing arm inverter, and swing arm inverter is connected to speed variable motor, and variable speed motor drives three hydraulic fluid port hydraulic pumps, the 1st oil inlet and outlet P of three hydraulic fluid port hydraulic pumps
abe connected with the rodless cavity of swing arm hydraulic cylinder, the 2nd oil inlet and outlet P
bbe connected with the rod chamber of swing arm hydraulic cylinder, suction hydraulic fluid port P
tbe connected with accumulator; Control unit gathers displacement signal or the rate signal of swing arm hydraulic cylinder, through the rotating speed of swing arm inverter control variable speed motor;
Described rotary control system by turn round inverter, revolution dynamoelectric machine form, revolution inverter be connected with energy storage unit, revolution dynamoelectric machine with turn round inverter be connected; The controlled unit controls of revolution inverter; The tach signal of control unit collection revolution dynamoelectric machine also controls the duty of revolution dynamoelectric machine;
Described internal combustion engine is connected with change displacement hydraulic pump, generator, generator is connected with energy storage unit, the power storage that generator sends is in energy storage unit, energy storage unit and swing arm inverter, turn round inverter and be connected, energy storage unit is variable speed motor, revolution dynamoelectric machine is powered, internal combustion engine drive becomes displacement hydraulic pump, drives electrical power generators simultaneously.
Described charger is connected with energy storage unit, and charger is connected on power supply.
The invention has the advantages that:
1. swing arm hydraulic cylinder adopts three hydraulic fluid port hydraulic pumps directly to control, and does not have restriction loss, the convenient recovery and reuse realizing control movable arm potential energy, and does not need to be exchanged by the multiple energy of hydraulic motor and generator, and energy recovery efficiency is high.
2. three hydraulic fluid port hydraulic pumps are driven by the motor of variable speed, the hydraulic pump that such three hydraulic fluid port hydraulic pumps only need adopt fixed displacement just can, relative to the control mode becoming discharge capacity, simplify the structure; Power drive adopts hybrid power mode, is conducive to the rate of load condensate improving internal combustion engine, makes internal combustion engine interval at high efficiency fuel, thus saves complete machine fuel consume.
3. swing arm and revolution all adopt motor to drive, potential energy and the pivotal kinetic energy of swing arm can be converted into power storage, and sharing an energy storage unit, the energy of storage can complement each other and utilize, and improves efficiency and the capacity usage ratio of complete machine work.
Accompanying drawing explanation
Fig. 1 is hydraulic crawler excavator drive system fundamental diagram of the present invention.
In figure, 01-swing arm control system, 02-rotary control system, 1-internal combustion engine, 2-banked direction control valves group, 3-change displacement hydraulic pump, 4-generator, 5-energy storage unit, 6-variable speed motor, 7-control unit, 8-tri-hydraulic fluid port hydraulic pump, 9-accumulator, 10-A little latus rectum hydraulic control one-way valve, the little latus rectum hydraulic control one-way valve of 11-B, 12-A safety valve, 13-B safety valve, 14-swing arm hydraulic cylinder, 15-slewing motor inverter, 16-turn round dynamoelectric machine, 17-bucket hydraulic cylinder, 18-dipper hydraulic cylinder, 19-arm motor inverter, 20-charger.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described further:
As shown in Figure 1, the hybrid power hydraulic excavator drive system of swing arm enclosed control system comprises internal combustion engine 1, banked direction control valves group 2, becomes displacement hydraulic pump 3, generator 4, energy storage unit 5, swing arm control system 01, rotary control system 02, bucket hydraulic cylinder 17 and dipper hydraulic cylinder 18.
Swing arm control system 01 by swing arm inverter 19, variable speed motor 6, control unit 7, can three hydraulic fluid port hydraulic pumps 8 of balanced differential hydraulic cylinder difference in areas, the little latus rectum hydraulic control one-way valve of accumulator 9,2 10,11,2 safety valves 12,13 and swing arm hydraulic cylinder 14 form.In swing arm control system 01, energy storage unit 5 is connected to swing arm inverter 19, and swing arm inverter 19 is connected to variable speed motor 6, and variable speed motor 6 drives the 1st oil inlet and outlet P of three hydraulic fluid port hydraulic pump 8, three hydraulic fluid port hydraulic pumps 8
abe connected with the rodless cavity of swing arm hydraulic cylinder 14, the 2nd oil inlet and outlet P
bbe connected with the rod chamber of swing arm hydraulic cylinder 14, suction hydraulic fluid port P
tbe connected with accumulator 9; A safety valve 12 is in parallel with A little latus rectum hydraulic control one-way valve 10, and the oil-in of the O mouth of A safety valve and the little latus rectum hydraulic control one-way valve of A meets the suction hydraulic fluid port P of three hydraulic fluid port hydraulic pumps 8
t, the oil-out of the P mouth of A safety valve and the little latus rectum hydraulic control one-way valve of A meets the 1st oil inlet and outlet P of three hydraulic fluid port hydraulic pumps 8
a; B safety valve is in parallel with B little latus rectum hydraulic control one-way valve, and the oil-in of the O mouth of B safety valve and the little latus rectum hydraulic control one-way valve of B meets the suction hydraulic fluid port P of three hydraulic fluid port hydraulic pumps 8
t, the oil-out of the P mouth of B safety valve and the little latus rectum hydraulic control one-way valve of B meets the 2nd oil inlet and outlet P of three hydraulic fluid port hydraulic pumps
b.
Rotary control system 02 is made up of revolution transformer 15 and revolution dynamoelectric machine 16, and revolution inverter 15 is connected with energy storage unit 5, is connected to turns round dynamoelectric machine 16 with revolution inverter 15.
Swing arm control system 01 controls swing arm hydraulic cylinder 14 and realizes moving up and down of Hydraulic Excavator's Boom, and rotary control system 02 realizes hydraulic crawler excavator top rotating main body to advance relative to bottom the rotation of main body by controlling revolution dynamoelectric machine 16; Becoming displacement hydraulic pump 3 drives power shovel hydraulic cylinder 17 and dipper hydraulic cylinder 18 to work by banked direction control valves group 2.
Control unit 7 gathers displacement signal or the rate signal of swing arm hydraulic cylinder 14, controls the rotating speed of variable speed motor 8 through swing arm inverter 19; ; The control of the controlled unit 7 of revolution inverter 15; Control unit 7 gathers the duty of the tach signal control revolution dynamoelectric machine 16 of revolution dynamoelectric machine 16.
During complete machine work, internal combustion engine 1 is connected with generator 4 with change displacement hydraulic pump 3, and internal combustion engine 1 drives and becomes displacement hydraulic pump 3, drives generator 4 to generate electricity simultaneously; Generator 4 is connected with energy storage unit 5, the power storage that generator 4 sends is in energy storage unit 5, energy storage unit 5 and swing arm inverter 19 and turn round inverter 15 and be connected, energy storage unit 5 is for variable speed motor 6 and turn round dynamoelectric machine 16 and power.Variable speed motor 6 drives three hydraulic fluid port hydraulic pumps 8, control unit 7 gathers displacement or the tach signal of swing arm hydraulic cylinder 14, control the rotating speed of variable speed motor 6, realize the control to three hydraulic fluid port hydraulic pump 8 rotating speeds and direction, thus match with the discharge capacity of three hydraulic fluid port hydraulic pumps 8, improve the energy efficiency of system.
When swing arm declines, the piston rod of swing arm hydraulic cylinder 14 is regained, the 1st oil inlet and outlet P of three hydraulic fluid port hydraulic pumps 8
athe rodless cavity oil suction of slave arm hydraulic cylinder 14, the 2nd oil inlet and outlet P of three hydraulic fluid port hydraulic pumps 8
bto the rod chamber fuel feeding of swing arm hydraulic cylinder 14, the hydraulic oil that rodless cavity has more enters accumulator 9 through suction hydraulic fluid port, realizes potential energy and reclaims; When moved arm lifting, the piston rod of swing arm hydraulic cylinder 14 stretches out, the 1st oil inlet and outlet P of three hydraulic fluid port hydraulic pumps 8
ato rodless cavity fuel feeding, the 2nd oil inlet and outlet P
bfrom rod chamber oil suction, the fluid that rodless cavity is inadequate is supplemented by accumulator 9.
When digger revolving starts, to accelerate and when at the uniform velocity turning round, revolution dynamoelectric machine 16 be motor duty, control unit 7 controls revolution inverter 15, realizes power storaging unit 5 to turning round dynamoelectric machine 16 supply of electrical energy; When excavator is in rotary braking, revolution dynamoelectric machine 16 be generator operation state, control unit 7 control revolution inverter 15, realize turn round dynamoelectric machine 16 generate electricity and can store to power storaging unit 5.
Near excavator work, have power supply, or excavator leaves the place of power supply in, charger 20 is connected on power supply and charges, charger 20 is connected with energy storage unit 5, charger 20 can be adopted to charge to energy storage unit 5, electric energy supplement, or make machine be in all-electric state.
Claims (2)
1. a hybrid power hydraulic excavator system for swing arm enclosed control, comprises internal combustion engine, banked direction control valves group, becomes displacement hydraulic pump, generator, energy storage unit, swing arm control system, rotary control system, bucket hydraulic cylinder and dipper hydraulic cylinder; It is characterized in that:
Described swing arm control system is made up of swing arm inverter, variable speed motor, control unit, three hydraulic fluid port hydraulic pumps, accumulator, little latus rectum hydraulic control one-way valve, safety valve and swing arm hydraulic cylinder; Described energy storage unit is connected to swing arm inverter, and swing arm inverter is connected to variable speed motor, and variable speed motor drives three hydraulic fluid port hydraulic pumps, the 1st oil inlet and outlet P of three hydraulic fluid port hydraulic pumps
abe connected with the rodless cavity of swing arm hydraulic cylinder, the 2nd oil inlet and outlet P
bbe connected with the rod chamber of swing arm hydraulic cylinder, suction hydraulic fluid port P
tbe connected with accumulator; Control unit gathers displacement signal or the rate signal of swing arm hydraulic cylinder, through the rotating speed of swing arm inverter control variable speed motor;
Described rotary control system by turn round inverter, revolution dynamoelectric machine form, revolution inverter be connected with energy storage unit, revolution dynamoelectric machine with turn round inverter be connected; The controlled unit controls of revolution inverter; The tach signal of control unit collection revolution dynamoelectric machine also controls the duty of revolution dynamoelectric machine;
Described internal combustion engine is connected with change displacement hydraulic pump, generator, generator is connected with energy storage unit, the power storage that generator sends is in energy storage unit, energy storage unit and swing arm inverter, turn round inverter and be connected, energy storage unit is variable speed motor, revolution dynamoelectric machine is powered, internal combustion engine drive becomes displacement hydraulic pump, drives electrical power generators simultaneously.
2. the hybrid power hydraulic excavator system of a kind of swing arm enclosed control according to claim 1, it is characterized in that: charger is connected with energy storage unit, charger is connected on power supply.
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| CN201310405323.4A CN103452150B (en) | 2013-09-09 | 2013-09-09 | Hybrid power hydraulic excavator system adopting movable arm closed control |
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| CN103452150B true CN103452150B (en) | 2015-06-17 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103924629A (en) * | 2014-04-15 | 2014-07-16 | 中国人民解放军63983部队 | Hydraulic excavator driving system with potential energy recovery function |
| KR102425743B1 (en) * | 2015-08-21 | 2022-07-28 | 현대두산인프라코어(주) | Construction machinery and method for controlling the construction machinery |
| DE102016215311A1 (en) * | 2016-08-17 | 2018-02-22 | Voith Patent Gmbh | Hydraulic drive |
| CN115596032A (en) * | 2022-11-14 | 2023-01-13 | 中国矿业大学（Cn） | Energy-saving system for movable arm of oil-electricity hybrid power excavator and control method of energy-saving system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009024778A (en) * | 2007-07-19 | 2009-02-05 | Caterpillar Japan Ltd | Generator driving control device and working machine |
| CN101929169A (en) * | 2009-09-07 | 2010-12-29 | 太原理工大学 | Hydraulic excavator capable of cylinder deactivation work |
| CN103215982A (en) * | 2013-04-16 | 2013-07-24 | 三一重机有限公司 | Hybrid-powered rotation driving system and construction machinery |
| CN103255790A (en) * | 2013-04-26 | 2013-08-21 | 太原理工大学 | Electric hydraulic excavator sharing direct-current bus |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009024778A (en) * | 2007-07-19 | 2009-02-05 | Caterpillar Japan Ltd | Generator driving control device and working machine |
| CN101929169A (en) * | 2009-09-07 | 2010-12-29 | 太原理工大学 | Hydraulic excavator capable of cylinder deactivation work |
| CN103215982A (en) * | 2013-04-16 | 2013-07-24 | 三一重机有限公司 | Hybrid-powered rotation driving system and construction machinery |
| CN103255790A (en) * | 2013-04-26 | 2013-08-21 | 太原理工大学 | Electric hydraulic excavator sharing direct-current bus |
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