CN104314131B - Excavator control system with oil hybrid power - Google Patents
Excavator control system with oil hybrid power Download PDFInfo
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- CN104314131B CN104314131B CN201410473033.8A CN201410473033A CN104314131B CN 104314131 B CN104314131 B CN 104314131B CN 201410473033 A CN201410473033 A CN 201410473033A CN 104314131 B CN104314131 B CN 104314131B
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Abstract
The invention relates to a hydraulic excavator control system, particularly to an excavator control system with oil hybrid power, and belongs to the technical field of engineering machinery. The system comprises hydraulic pumps (1), an engine (2), a main control valve (3), a boom cylinder (4), a rotary motor (5), a rotary energy recovery valve (6) and a movable arm potential energy recovery valve (10), wherein the rotary energy recovery valve recovers the overflowing energy of the rotary motor into a rotary energy accumulator (7); the movable arm potential energy recovery valve recovers the potential energy of the boom cylinder into a movable arm energy accumulator; oil outlets of the rotary energy accumulator and the movable arm energy accumulator are both connected with an energy release control valve, recovered energy is controlled to be transported to an auxiliary motor (11), and the auxiliary motor and the engine jointly provide power for the hydraulic pumps. Through the adoption of the system disclosed by the invention, the movable arm potential energy and the rotary overflowing energy can both be recovered into the energy accumulators and can provide auxiliary power for the system when required, and the lost energy of the excavator system can be furthest recovered.
Description
Technical field
The present invention relates to a kind of Control System of Hydraulic Excavator is and in particular to a kind of excavator of oil-liquid hybrid electric controls
System, belongs to technical field of engineering machinery.
Background technology
Hydraulic crawler excavator, because its consumption is big, oil consumption is high, discharge is poor, has been increasingly becoming the common concern of energy-conserving and environment-protective field
Object.The control system of existing hydraulic crawler excavator is as shown in figure 1, electromotor 2 drives hydraulic pump 1 to extract the hydraulic pressure in fuel tank
Oil delivers to hydraulic rotary motor 5 and boom cylinder 4 by main control valve 3.Due to the turntable of hydraulic crawler excavator, swing arm, dipper and shovel
The quality of bucket is larger, can discharge substantial amounts of inertia energy in deceleration or braking, just solve the effective ways of this problem
It is by energy regenerating.Energy obtained by general recovery mainly has three kinds of forms：Mechanical energy, hydraulic energy and electric energy.
Fluid pressure type energy regenerating, using hydraulic accumulator as energy-storage travelling wave tube, is applied more general in hydraulically powered system
Time.The recoverable energy of hydraulic crawler excavator mainly has two parts, and one is revolution overflow energy, and two is potential energy when swing arm declines.
Existing excavator is primarily directed to revolution overflow energy and is reclaimed, and is stored in the form of electric energy and utilize, and forms oil electric mixed
Close power digger system, system is reclaimed to the energy of motor forward direction revolution and reversed turning respectively using reversal valve；Or
It is individually movable arm potential energy to be reclaimed, controls the action of swing arm and the recovery of movable arm potential energy with solenoid directional control valve, using dynamic
Check valve before arm keeps valve realizes the big chamber in-line of boom cylinder and the automatic switchover of oil return line, then utilizes liquid controlled reversing
Valve realizes accumulator to collection of energy, release.
Either individually reclaim revolution overflow energy or individually reclaim movable arm potential energy, all can cause the wave of part energy
Take；When swing arm declines, the power density of oil cylinder output is big, and therefore the power density of oil electric mixed dynamic system is also big, thus can
Cause system element oversized, price is higher, in therefore existing oil electric mixed dynamic excavator system, swing arm should not be carried out
Potential energy reclaims.
Content of the invention
For solving the above problems, the present invention provides a kind of excavator control system of oil-liquid hybrid electric, to greatest extent
The energy of excavator system loss is reclaimed, simultaneously simplified system design, component size is less, cost-effective.
The technical scheme being adopted to achieve these goals：A kind of excavator control system of oil-liquid hybrid electric, bag
Include hydraulic pump, electromotor, main control valve, boom cylinder, rotary motor, rotation energy recovery valve and movable arm potential energy recovery valve, described
Two oil-ins of rotation energy recovery valve are connected with the A mouth of rotary motor and B mouth respectively, the oil-out of rotation energy recovery valve
It is connected with revolution accumulator；
The oil-in of movable arm potential energy recovery valve is connected with the rodless cavity of boom cylinder, the oil-out of movable arm potential energy recovery valve with
Swing arm accumulator is connected；
Revolution accumulator is all connected with the oil-in of Energy release control valve with the oil-out of swing arm accumulator；Energy discharges
The release hydraulic fluid port of control valve is connected with the oil-in of servo-motor, and servo-motor is connected with hydraulic pump, servo-motor and electromotor
Coaxial output power.
Described rotation energy recovery valve is the first in parallel sequence valve and the second sequence valve, the oil-in of the first sequence valve with
The A mouth of rotary motor is connected, and the oil-in of the second sequence valve is connected with the B mouth of rotary motor, and the first sequence valve and second is sequentially
The oil-out of valve is all connected with revolution accumulator.
Preferably, the first sequence valve and the second sequence valve are leader sequence valve.
Further, the oil circuit that rotation energy recovery valve is connected with revolution accumulator is provided with overflow valve.
Further, between overflow valve and revolution accumulator, also there is check valve.
Movable arm potential energy recovery valve includes pilot operated directional control valve, and the wherein C mouth of pilot operated directional control valve is connected with the swing arm connection of main control valve,
The D mouth of pilot operated directional control valve is connected with swing arm accumulator oil-in, and the E mouth of pilot operated directional control valve is connected with the rodless cavity of boom cylinder.
Further, the oil circuit that pilot operated directional control valve is connected with swing arm accumulator is provided with air relief valve, the F mouth of air relief valve with dynamic
The rodless cavity of arm oil cylinder is connected.
Energy release control valve includes the first reversal valve, the second reversal valve, the 3rd reversal valve, the first shuttle valve and the second shuttle
Valve, the oil-in of described second reversal valve is connected with the oil-out of revolution accumulator, and the oil-in of the 3rd reversal valve is stored with swing arm
The oil-out of energy device is connected；Second reversal valve and the 3rd reversal valve oil-out are connected with the oil-in of the second shuttle valve respectively, and second
The oil-out of shuttle valve is connected with servo-motor；The oil-in of the first shuttle valve respectively with revolution accumulator and swing arm accumulator fuel-displaced
Mouth is connected, and the oil-out of the first shuttle valve is connected with the oil-in of the first reversal valve, and the oil-out of the first reversal valve connects fuel tank.
Described servo-motor is constant displacement hydraulic motor or variable hydraulic motor.
Compared with prior art, the present invention adopts oil-liquid hybrid electric system, will be equal to movable arm potential energy and revolution overflow energy
It is recycled in accumulator, can be system provided auxiliary power when system needs.The specific power of accumulator is higher, can be short
Quickly absorb the energy that actuator is discharged in time, and directly discharge to servo-motor when needed, improve energy
The organic efficiency of recovery system；To greatest extent the energy of excavator system loss is reclaimed, reduce the heating of system, letter
Change system design.
Brief description
Fig. 1 is the excavator control system schematic diagram of prior art；
Fig. 2 is the control system schematic diagram of the present invention；
Fig. 3 is the schematic diagram of rotation energy recovery valve 6 in the present invention；
Fig. 4 is the schematic diagram of movable arm potential energy recovery valve 10 in the present invention；
Fig. 5 is the schematic diagram of Energy release control valve 9 in the present invention.
In figure：1st, hydraulic pump；2nd, electromotor；3rd, main control valve；4th, boom cylinder；5th, rotary motor；6th, rotation energy returns
Receive valve；7th, turn round accumulator；8th, swing arm accumulator；9th, Energy release control valve；10th, movable arm potential energy recovery valve；11st, assist horse
Reach, the 12, first sequence valve；13rd, the second sequence valve；14th, the first shuttle valve；15th, the first reversal valve；16th, the second reversal valve；17th,
Two shuttle valves；18th, the 3rd reversal valve；19th, air relief valve；20th, pilot operated directional control valve；21st, overflow valve；22nd, check valve.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 2 a kind of excavator control system of oil-liquid hybrid electric, including hydraulic pump 1, electromotor 2, main control valve
3rd, boom cylinder 4, rotary motor 5, rotation energy recovery valve 6 and movable arm potential energy recovery valve 10, described rotation energy recovery valve 6
Two oil-ins are connected with the A mouth of rotary motor 5 and B mouth respectively, the oil-out of rotation energy recovery valve 6 with revolution accumulator 7
It is connected；
The oil-in of movable arm potential energy recovery valve 10 is connected with the rodless cavity of boom cylinder 4, the going out of movable arm potential energy recovery valve 10
Hydraulic fluid port is connected with swing arm accumulator 8；
Revolution accumulator 7 is all connected with the oil-in of Energy release control valve 9 with the oil-out of swing arm accumulator 8；Energy
The release hydraulic fluid port of release control valve 9 is connected with the oil-in of servo-motor 11, and servo-motor 11 is connected with hydraulic pump 1, assists horse
Reach 11 and coaxially export power with electromotor 2.
Revolution accumulator 7 reclaims revolution overflow energy, and swing arm accumulator 8 reclaims movable arm potential energy, and Energy release control valve 9 exists
Require supplementation with and open during power, by the energy conveying after reclaiming to servo-motor 11, the output shaft of servo-motor 11 and electromotor 2
Series connection, provides the power of mixing for system.
As shown in figure 3, described rotation energy recovery valve 6 is the first sequence valve 12 in parallel and the second sequence valve 13, first
The oil-in of sequence valve 12 is connected with the A mouth of rotary motor 5, the B mouth phase of the oil-in of the second sequence valve 13 and rotary motor 5
Even, the first sequence valve 12 is all connected with revolution accumulator 7 with the oil-out of the second sequence valve 13.When rotary motor 5 starts, oil-feed
Mouthful pressure rise, oil-out pressure rise during rotary motor 5 braking, according to pressure higher selecting the first sequence valve 12 or the
The unlatching of two sequence valves 13, the hydraulic oil of overflow enters in accumulator and is reclaimed.
Preferably, the first sequence valve 12 and the second sequence valve 13 are leader sequence valve.The leakage hole of leader sequence valve and oil
Case is connected, and is required with ensureing that rotary motor operating pressure meets, is more applicable for the occasion of high pressure, low discharge.
Further, the oil circuit that rotation energy recovery valve 6 is connected with revolution accumulator 7 is provided with overflow valve 21.Described excessive
Stream valve 21 is used for limiting the maximum pressure reclaiming fluid further, protects whole system.
Further, between overflow valve 21 and revolution accumulator 7, also there is check valve 22.Check valve 22 has reverse cutting
Only function, can prevent the hydraulic oil reclaiming backflow from system is damaged.
As shown in figure 4, movable arm potential energy recovery valve 10 includes pilot operated directional control valve 20, wherein the C mouth of pilot operated directional control valve 20 and master
The swing arm connection of control valve 3 is connected, and the D mouth of pilot operated directional control valve 20 is connected with swing arm accumulator 8 oil-in, the E mouth of pilot operated directional control valve 20
It is connected with the rodless cavity of boom cylinder 4.Pilot operated directional control valve 20 is changed according to the fluid of pressure oil in boom cylinder 4 rodless cavity
To when swing arm rises or fine motion makees, the spool position of pilot operated directional control valve 20 is home position, the swing arm of described main control valve 3
UNICOM is crossed pilot operated directional control valve and is connected with the rodless cavity of boom cylinder 4；When swing arm declines rapidly, the rodless cavity pressure of boom cylinder 4
Power rises rapidly, promotes the valve element action of pilot operated directional control valve 20, and the hydraulic oil in boom cylinder 4 rodless cavity passes through pilot operated directional control valve
20 entrance accumulators.
Further, the oil circuit that pilot operated directional control valve 20 is connected with swing arm accumulator 8 is provided with air relief valve 19, air relief valve 19
F mouth is connected with the rodless cavity of boom cylinder 4.Pressure compensation effect made by air relief valve 19, so that the flow flowing through pilot operated directional control valve 20 is protected
Hold relatively stable.
As shown in figure 5, Energy release control valve 9 include the first reversal valve 15, the second reversal valve 16, the 3rd reversal valve 18,
First shuttle valve 14 and the second shuttle valve 17, the oil-in of described second reversal valve 16 is connected with the oil-out of revolution accumulator 7, and the 3rd
The oil-in of reversal valve 18 is connected with the oil-out of swing arm accumulator；Second reversal valve 16 and the 3rd reversal valve 18 oil-out are respectively
It is connected with the oil-in of the second shuttle valve 17, the oil-out of the second shuttle valve 17 is connected with servo-motor 11；The oil-feed of the first shuttle valve 14
Mouth is connected with revolution accumulator 7 and the oil-out of swing arm accumulator 8 respectively, the oil-out of the first shuttle valve 14 and the first reversal valve 15
Oil-in be connected, the oil-out of the first reversal valve 15 connects fuel tank.First shuttle valve 14 and the second shuttle valve 17 limit hydraulic oil
Flow direction, prevents hydraulic oil reflux from destroying system；First reversal valve 15 can make the fluid not released in accumulator after opening
Enter fuel tank through the first shuttle valve 14 earial drainage.
Described servo-motor 11 is constant displacement hydraulic motor or variable hydraulic motor.
Operation principle is as follows：
When rotary motor 5 starts or brakes, the hydraulic oil of rotary motor 5 reaches the oil pressure relief P of sequence valve setting
When, rotation energy recovery valve 6 is started working, and hydraulic oil passes through the A mouth of rotary motor 5 or B mouth enters the first sequence valve 12 or the
Two sequence valves 13, the first sequence valve 12 or the second sequence valve 13 are opened, and revolution overflow energy is recycled to revolution accumulator 7.Institute
State the first sequence valve 12 and the second sequence valve 13 is guide type sequence valve, leakage hole is connected with fuel tank, to ensure rotary motor
Operating pressure meets and requires it is adaptable to the occasion of high pressure, low discharge.Described overflow valve 21 is used for limiting recovery fluid further
Maximum pressure, protects whole system；Check valve 22 has reverse cutoff function, can prevent the hydraulic oil reclaiming from flowing back to system
Damage.
When boom cylinder 4 stretches out and fine motion is retracted, movable arm potential energy recovery valve 10 does not work, and pilot operated directional control valve 20 is in
Right position, main control valve 3 is connected with the rodless cavity of boom cylinder 4 by pilot operated directional control valve 20.
When boom cylinder 4 fast retractile, movable arm potential energy recovery valve 10 works, and pilot operated directional control valve 20 is in left position, swing arm
Hydraulic oil in oil cylinder 4 rodless cavity enters swing arm accumulator 8 through pilot operated directional control valve 20 and reclaims movable arm potential energy, air relief valve 19 simultaneously
Make pressure compensation effect, so that the flow flowing through pilot operated directional control valve 20 is kept relative stability.
When system job demand supplements power, Energy release control valve 9 works, and will be stored in turning round accumulator 7 and moves
Energy in arm accumulator 8 is supplied to servo-motor 11, and servo-motor 11 drives main pump 1 to operate together with electromotor 2.Work as revolution
When there is releasable fluid in accumulator 7 or swing arm accumulator 8, the second reversal valve 16 or the 3rd reversal valve 18 are opened, pressure
Oil enters servo-motor 11 through the second shuttle valve 17；After excavator is shut down, open the first reversal valve 15, do not release in accumulator
The fluid discharging enters fuel tank through the first shuttle valve 14 earial drainage.
Movable arm potential energy and revolution overflow energy are all recycled in accumulator the present invention, can be system when system needs
Provided auxiliary power, improves the organic efficiency of energy-recuperation system, to greatest extent the energy of excavator system loss is entered
Row reclaims.
Claims (9)
1. a kind of excavator control system of oil-liquid hybrid electric, including hydraulic pump（1）, electromotor（2）, main control valve（3）, swing arm
Oil cylinder（4）And rotary motor（5）It is characterised in that：Also include rotation energy recovery valve（6）With movable arm potential energy recovery valve（10）,
Described rotation energy recovery valve（6）Two oil-ins respectively with rotary motor（5）A mouth be connected with B mouth, rotation energy reclaim
Valve（6）Oil-out with revolution accumulator（7）It is connected；
Movable arm potential energy recovery valve（10）Oil-in and boom cylinder（4）Rodless cavity be connected, movable arm potential energy recovery valve（10）'s
Oil-out and swing arm accumulator（8）It is connected；
Revolution accumulator（7）With swing arm accumulator（8）Oil-out all with Energy release control valve（9）Oil-in be connected；Energy
Amount release control valve（9）Release hydraulic fluid port and servo-motor（11）Oil-in be connected, servo-motor（11）With hydraulic pump（1）Phase
Even, servo-motor（11）With electromotor（2）Coaxial output power.
2. oil-liquid hybrid electric as claimed in claim 1 excavator control system it is characterised in that：Described rotation energy returns
Receive valve（6）For the first sequence valve in parallel（12）With the second sequence valve（13）, the first sequence valve（12）Oil-in with revolution horse
Reach（5）A mouth be connected, the second sequence valve（13）Oil-in and rotary motor（5）B mouth be connected, the first sequence valve（12）With
Second sequence valve（13）Oil-out all with revolution accumulator（7）It is connected.
3. oil-liquid hybrid electric as claimed in claim 2 excavator control system it is characterised in that：First sequence valve（12）
With the second sequence valve（13）For leader sequence valve.
4. oil-liquid hybrid electric as claimed in claim 3 excavator control system it is characterised in that：Rotation energy recovery valve
（6）With revolution accumulator（7）The oil circuit of connection is provided with overflow valve（21）.
5. oil-liquid hybrid electric as claimed in claim 4 excavator control system it is characterised in that：Overflow valve（21）With return
Turn accumulator（7）Between also there is check valve（22）.
6. the excavator control system of the oil-liquid hybrid electric as described in claim 1 to 5 any claim, its feature exists
In：Movable arm potential energy recovery valve（10）Including pilot operated directional control valve（20）, wherein pilot operated directional control valve（20）C mouth and main control valve（3）'s
Swing arm connection is connected, pilot operated directional control valve（20）D mouth and swing arm accumulator（8）Oil-in is connected, pilot operated directional control valve（20）E mouth with
Boom cylinder（4）Rodless cavity be connected.
7. oil-liquid hybrid electric as claimed in claim 6 excavator control system it is characterised in that：Pilot operated directional control valve（20）
With swing arm accumulator（8）The oil circuit of connection is provided with air relief valve（19）, air relief valve（19）F mouth and boom cylinder（4）No bar
Chamber is connected.
8. oil-liquid hybrid electric as claimed in claim 7 excavator control system it is characterised in that：Energy release control valve
（9）Including the first reversal valve（15）, the second reversal valve（16）, the 3rd reversal valve（18）, the first shuttle valve（14）With the second shuttle valve
（17）, described second reversal valve（16）Oil-in with revolution accumulator（7）Oil-out be connected, the 3rd reversal valve（18）Enter
Hydraulic fluid port is connected with the oil-out of swing arm accumulator；Second reversal valve（16）With the 3rd reversal valve（18）Oil-out respectively with the second shuttle
Valve（17）Oil-in be connected, the second shuttle valve（17）Oil-out and servo-motor（11）It is connected；First shuttle valve（14）Oil-feed
Mouth respectively with revolution accumulator（7）With swing arm accumulator（8）Oil-out be connected, the first shuttle valve（14）Oil-out change with first
To valve（15）Oil-in be connected, the first reversal valve（15）Oil-out connect fuel tank.
9. oil-liquid hybrid electric as claimed in claim 8 excavator control system it is characterised in that：Described servo-motor
（11）For constant displacement hydraulic motor or variable hydraulic motor.
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| CN201410473033.8A CN104314131B (en) | 2014-09-16 | 2014-09-16 | Excavator control system with oil hybrid power |
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| CN201410473033.8A CN104314131B (en) | 2014-09-16 | 2014-09-16 | Excavator control system with oil hybrid power |
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| CN104314131B true CN104314131B (en) | 2017-02-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105366579B (en) * | 2015-11-27 | 2018-07-03 | 中联重科股份有限公司 | Crane and its hydraulic control system |
| KR101840247B1 (en) | 2016-01-20 | 2018-03-20 | 가부시키가이샤 고마쓰 세이사쿠쇼 | Engine control device for work machine, work machine, and method for controlling engine of work machine |
| CN106939907A (en) * | 2016-05-12 | 2017-07-11 | 华若延 | A kind of energy-recuperation system for building machinery |
| CN105951920B (en) * | 2016-06-20 | 2018-03-16 | 浙江大学 | A kind of excavator rotary kinetic energy recovery and recharging oil device and its method |
| CN108729492A (en) * | 2018-06-06 | 2018-11-02 | 马鞍山松鹤信息科技有限公司 | A kind of oil-liquid hybrid electric excavator potential energy recovery method |
| CN110499794B (en) * | 2019-08-30 | 2021-03-12 | 中国矿业大学 | Heavy-load movable arm potential energy recycling system of large hydraulic excavator and control method thereof |
| CN112555207A (en) * | 2020-12-01 | 2021-03-26 | 上海华兴数字科技有限公司 | Hydraulic control system and mechanical equipment |
| CN112594262A (en) * | 2020-12-16 | 2021-04-02 | 徐州徐工挖掘机械有限公司 | Energy recovery system for construction machine and construction machine |
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| JPH09177351A (en) * | 1995-12-27 | 1997-07-08 | Yoshio Kobayashi | Two-stage hydraulic lifting-lowering type automobile multistory parking device using pressure accumulator as driving source |
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