CN105197840B - A kind of Electro-hydraulic drive system for industrial vehicle - Google Patents
A kind of Electro-hydraulic drive system for industrial vehicle Download PDFInfo
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- CN105197840B CN105197840B CN201510682127.0A CN201510682127A CN105197840B CN 105197840 B CN105197840 B CN 105197840B CN 201510682127 A CN201510682127 A CN 201510682127A CN 105197840 B CN105197840 B CN 105197840B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
Abstract
The present invention relates to a kind of Electro-hydraulic drive systems for industrial vehicle, only variable pump is driven to make frequency control with a motor, a microcomputerized controller, hydraulic oil in hydraulic oil container is conveyed to walking mechanism, leaning device, hoisting mechanism, steering mechanism, kinetic energy recovering mechanism, position energy recovering mechanism and walking speed limiting mechanism, while vehicle to run, inclination, promotion and go to action, realize that kinetic energy recycles, reload bit can recycle and unloaded and underloading off-load；By speed limiting mechanism of walking, restricted speed keeps vehicle to run steady；When slipping by slope, braking, hydraulic system being capable of automatic repairing；When vehicle is climbed, variable pump carries out automatic variable according to load pressure setting, reaches low-speed big climbing function, and electric current of climbing is low.Motor is made of permanent magnetic brushless, frequency-variable controller and Variable plunger pump, and zero current starts to load current, starts the time in millimetre range, starting high current is not present, energy saving.
Description
Technical field
The invention belongs to industrial vehicle technical fields, and in particular to a kind of Electro-hydraulic drive system for industrial vehicle
System.
Background technique
The off-highway Mobile Equipment and electronic work vehicle sold and used currently on the market, including balance weight electric fork
Vehicle, shift-forward type electri forklift, multidirectional electri forklift and stacking electric vehicle etc., walking, promotion and leaning device mostly use greatly state
Popular phase asynchronous induction machine on border（Abbreviation AC motor）, but these equipments and vehicle have the following defects：
1) starting current is big；When vehicle Pin Fan Jin Hang Qian Jin is with operating condition is retreated, motor is in braking and consumes with the electric current started
It can be big；
2) climbing electric current is big（Need 2~3 times of rated current）；
3) AC motor that there are power factors is low, low speed when low efficiency and motor high efficient district it is narrow the defects of；
4) import barrier driver is at high cost；
5) vehicle can regenerative feedback technology without position；
6) more motors re-lighting and operation simultaneously causes superposition to start and run high current, makes putting for lead-acid accumulator
Electric current capacity decline 40%, causes operating cost to increase, and the charging time extends, and vehicle is declined using the efficiency of loading and unloading；
7) common electric fork truck, by the throttling of valve, controls cargo decrease speed, in this mistake when forking cargo decline
The position that cargo declines in journey can be converted to the thermal energy of hydraulic system, make oil liquid temperature rise, and long-term operation in this way will cause oil liquid change
Matter, influences the reliability and working efficiency of Hydraulic Elements, simultaneously because to exchange hydraulic oil, use cost increases；
8) electri forklift (including external existing electri forklift) of domestic production at present, fork-truck steering device and promotion
And leaning device uses the same hydraulic system, since hoisting mechanism driving power is big, when promotion, asks short, and steering mechanism drives function
Rate is small, and driving time is long, and hoisting mechanism and steering mechanism's driving power differ 10 times or more, and driving time differs tens times, is
Typical low load with strong power, causes energy loss, and use cost is high.
Existing patent WO2009/100378 has the following defects：
1) in full speed running, mechanical efficiency declines up to 18% walking mechanism；
2) operation is complicated, influences the efficiency of loading and unloading；
3) hoisting mechanism automatically controlled can not adjust the speed, and there is throttling loss；
It 4) can regenerative feedback technology without dynamic, position；
5) arrestment mechanism and the loss of hydraulic motor back pressure are serious.
Patent 200410016648.4 has the following disadvantages：
1) oil liquid enters cooling in motor, hydraulic oil is full of between rotor and stator, by oil viscosity when rotor rotates
Influence, rotor revolving speed consume energy in 1500r/min or more up to rated power 50% or more；
2) two hydraulic control one-way valves are set in running gear, make system complex, increase cost and energy consumption；
3) in walking mechanism when slipping by slope due to not slipping by slope speed limit, will cause driving makes operator bring mental burden
And danger；
4) lack repairing mechanism with when slipping by slope in vehicle braking, will cause component damage；
5) hoisting mechanism needs the operation when promoting distributing valve and being in middle position when declining regeneration, and operator is easy accidentally to grasp
Make, influences the efficiency of loading and unloading.
Summary of the invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved in the present invention is to provide one kind for industrial vehicle
Electro-hydraulic drive system, which can carry out vehicle only with a motor, a controller and variable pump
Work and realize while steering operation position can and kinetic energy recycling, structure is simple, at low cost.
In order to solve the above technical problems, present invention employs the following technical solutions：
A kind of Electro-hydraulic drive system for industrial vehicle, including for the battery of power source, microcomputerized controller,
Motor, hydraulic oil container, vehicle operation mechanism, steering mechanism and for the vehicle operation mechanism and steering mechanism it is defeated
The variable pump of liquor charging pressure oil, wherein the vehicle operation mechanism includes that walking mechanism, leaning device, hoisting mechanism, position can recycle
Mechanism and walking speed limiting mechanism, it is characterised in that：Battery provides power to motor by microcomputerized controller, and motor drives
Variable pump work realizes the walking, inclination, promotion of vehicle by walking mechanism, leaning device, hoisting mechanism and steering mechanism
And go to action；When hoisting mechanism is in heavy load descending, by position energy recovering mechanism, the position of heavily loaded cargo can be recycled and be used for
Battery charging；When hoisting mechanism is in unloaded or underloading decline, off-load is realized by position energy recovering mechanism；It is limited by walking
Fast mechanism, restricted speed make vehicle smooth running.
The hydraulic oil container is multistage combined hydraulic oil container, which includes the next fuel tank；Under
Oil temperature sensor, microcomputerized controller, motor, variable pump, velocity sensor, the first check valve, hydraulic is installed in the fuel tank of position
Oil, liquid level sensor, kinetic energy regeneration solenoid valve, position energy regeneration valve；Motor coaxially couples with variable pump.
Institute's rheme energy recovering mechanism, including promote reversal valve, lift cylinder, pressure sensor, position energy regeneration valve and variable
Pump, institute's rheme energy regeneration valve are that position can regeneration solenoid valve；When lift cylinder is in heavy load descending, pressure sensor is according to oil pressure
Height, send a signal to microcomputerized controller, position regeneration solenoid valve enable to be in closed circuit state, the load in lift cylinder is hydraulic
The oil inlet that oil is pumped through oil circuit, promotion reversal valve, oil circuit entering variable, at this moment variable pump becomes hydraulic motor operating condition, drives electricity
Motivation is in generator operating condition, the decrease speed of lift cylinder is controlled by microcomputerized controller, the position of generation can charge to battery；
When lift cylinder is in unloaded or underloading decline, pressure sensor sends a signal to microcomputerized controller, and position is enable to regenerate electromagnetism
Valve is in channel status, when lift cylinder declines, hydraulic oil in lift cylinder through oil circuit, promote reversal valve, oil circuit, position can be again
Raw solenoid valve, oil circuit directly return the next fuel tank.
Institute's rheme energy recovering mechanism, including reversal valve, lift cylinder, oil circuit, position energy regeneration valve and variable pump are promoted, it is described
Position energy regeneration valve is that position can regenerate hydraulic operated valve；Load hydraulic oil warp when lift cylinder is in heavy load descending, in lift cylinder
Oil circuit pushes away kinetic potential regeneration hydraulic operated valve, so that position is regenerated hydraulic operated valve and is in closed circuit state, the load hydraulic oil warp in lift cylinder
Oil circuit, the oil inlet for promoting reversal valve, oil circuit entering variable pump, at this moment variable pump becomes hydraulic motor operating condition, drives motor
In generator operating condition, the decrease speed of lift cylinder is controlled by microcomputerized controller, the position of generation can charge to battery；It is mentioning
In zero load or at light load, the hydraulic oil in lift cylinder pushes away kinetic potential regeneration hydraulic operated valve through oil circuit for liter mechanism, and position is enable to regenerate
Hydraulic operated valve is in channel status, and when lift cylinder declines, the hydraulic oil in lift cylinder is through oil circuit, promotion reversal valve, oil circuit, position
Hydraulic operated valve, oil circuit can be regenerated, the next fuel tank is directly returned.
The vehicle operation structure further includes kinetic energy recovering mechanism, when vehicle slips by slope and runs slowly, passes through kinetic energy
The regeneration kinetic energy of vehicle is stored in battery by recovering mechanism；The kinetic energy recovering mechanism, including microcomputerized controller, motor,
Variable pump, velocity sensor, walking reversal valve, hydraulic motor, accelerator pedal, acceleration transducer and kinetic energy regeneration solenoid valve；
In vehicle deceleration or when slipping by slope operation, accelerator pedal is lifted, and exports corresponding signal, microcomputerized controller by acceleration transducer
The actual speed for measuring the velocity sensor of motor is greater than the given speed of acceleration transducer, microcomputerized controller (3) output
High level makes kinetic energy regeneration solenoid valve at channel status, and in the case where the inertia of vehicle drives, hydraulic motor operating condition becomes hydraulic oil pump
Operating condition, the hydraulic oil of hydraulic motor output entered by second one-way valve, third check valve, oil circuit, kinetic energy regeneration solenoid valve
The oil inlet of variable pump makes variable pump become hydraulic motor operating condition, and driving motor is in generator operating condition, is controlled by microcomputer
Device charges to battery.
The walking speed limiting mechanism, including hydraulic motor, walking reversal valve and governor valve；It is in vehicle and slips by slope state
When, due to the presence of vehicle inertia, hydraulic motor still degree operation in tempo, it is insufficient to will cause variable oil pump feed, hydraulic in oil circuit
Oil pressure declines, and hydraulic fluid pressure simultaneously declines in oil circuit, and governor valve valve port gradually turns down, and operates hydraulic motor steadily.
The walking mechanism, including microcomputerized controller, motor, variable pump, incidence regulating mechanism, the first check valve, row
Walk reversal valve, hydraulic motor, governor valve, second one-way valve and third check valve；Variable pump oil inlet is equipped with the first check valve, row
It walks reversal valve and the first check valve, hydraulic motor oil inlet and outlet and governor valve passes through oil circuit connection；When vehicle, which advances, to be run, row
It walks reversal valve handle and is placed in forward position, to put one's foot down, it is micro- that accelerator pedal drives acceleration transducer to send a signal to
Machine controller, microcomputerized controller generate corresponding frequencies and voltage signal, drive motor rotation, and motor drives variable pump output
Corresponding hydraulic oil, hydraulic oil is through oil circuit, walking reversal valve, oil circuit, driving hydraulic motor work；In vehicle climbing, variable
The load pressure of pump increases, and variable pump carries out automatic variable by incidence regulating mechanism according to load pressure setting, reaches low
Fast large torque climbing；When vehicle will stop using, accelerator pedal is decontroled, brake pedal pushes brake pump output hydraulic pressure
Oil brakes brake by hydraulic motor by brake circuit, and vehicle shuts down, this fine motion with brake pedal linkage simultaneously
Switch motion makes brake valve be switched to conduction position, is connected to the oil inlet and outlet of hydraulic motor, and hydraulic motor is in braking shape
State, while microcomputerized controller makes motor that variable pump be driven to provide hydraulic oil with certain time and speed with predetermined set program,
Cheat the walking mechanism repairing.
The leaning device, including inclined reversing valve, dump ram and tilt switch, inclined reversing valve and dump ram are logical
Oil circuit is crossed to be connected；When operating the handle of inclined reversing valve, tilt switch exports on-off model to microcomputerized controller, microcomputer control
Preset instructions signal is sent to motor by device processed, drives variable pump output phase to answer hydraulic oil, through oil circuit, inclined reversing valve, oil
Road makes dump ram completion lean forward, hypsokinesis movement.
The hoisting mechanism, including promote reversal valve, promote displacement sensor and lift cylinder, promote reversal valve and promoted
Oil cylinder is connected by oil circuit；When promotion reversal valve handle is switched to and promotes shelves, outputed signal to by promoting displacement sensor
Microcomputerized controller, microcomputer control issue signal and control motor rotation, and variable pump is driven to export corresponding hydraulic oil, through oil circuit,
Reversal valve, oil circuit are promoted, lift cylinder is made to make to be promoted operation for freight lifting to designated position.
The motor（1）It is made of permanent magnetic brushless, frequency-variable controller and Variable plunger pump, the brushless, permanently electricity
Machine is unloaded and is that zero current starts to load current with starting current is carried, and starts the time in millimetre range；The walking mechanism,
It is the oil circuit connection of serial or parallel connection between leaning device and hoisting mechanism.
Compared with prior art, the present invention has the advantage that：
（1）The present invention realizes the walking of vehicle only with a motor and a controller and variable delivery hydraulic system, turns
To, promotion, the functions such as inclination, while realizing that kinetic energy recycling and position can recycle, structure is simple, at low cost.
（2）The present invention realizes dual speed regulation：One is the output flows of variable frequency adjustment hydraulic pump to realize speed regulation, another
Kind is variable pump automatic adjustment output flow to realize speed regulation.Frequency control avoids the throttle grverning loss of energy consumption, variable
Pump implements automated torque switching, has both improved vehicle climbing capacity, in turn avoids heavy-current discharge when vehicle climbing.With it is existing
Domestic similar fork truck is compared, and one times of bottom of climbing high current drop or more improves battery discharge capacity efficiency.
（3）Combined oil tank of the present invention is realized the oil injection type installation of electromechanical, is not connect with air in relation to electrical component
Touching, significantly reduces Noise of Hydraulic System, has waterproof, explosion-proof, cooling function.
（4）Motor starting of the present invention is short to the working condition time：Motor is under full load, when only needing≤600 milliseconds
Between realize motor zero start to load current, this is a breakthrough of electri forklift technology.
Detailed description of the invention
Fig. 1：The work flow diagram of electric-controlled hydraulic control system of the present invention；
Fig. 2：The hydraulic circuit figure of the embodiment of the present invention one；
Fig. 3：The hydraulic circuit figure of the embodiment of the present invention two；
Fig. 4：The hydraulic circuit figure of the embodiment of the present invention three；
Fig. 5：The hydraulic circuit figure of the embodiment of the present invention four.
Numbering in the drawing explanation：
1-battery；2-oil temperature sensors；3-microcomputerized controllers；4-motor；5-variable pumps；6-tilt adjustments
Mechanism；7-velocity sensors；8-the first check valve；9-oil circuits；10-hydraulic oil；11-liquid level sensors；12-walkings are changed
To valve；13-promote reversal valve；14-inclined reversing valves；15-oil circuits；16-tilt switch；17-oil circuits；18-inclinations
Oil cylinder；19-pressure-gradient control valves；20-oil circuits；21-oil circuits；22-oil circuits；23-, which promote displacement sensing, rises device；24-diverters；
25-brakes；26-brakes；27-oil circuits；28-lift cylinders；29-oil circuits；30-hydraulic motors；31-hydraulic horses
It reaches；32-oil circuits；33-oil circuits；34-oil circuits；35-oil circuits；36-accelerator pedals；37-acceleration transducers；38-is upper
Fuel tank；39-oil circuits；40-the next fuel tanks；41-governor valves；42-oil circuits；43-kinetic energy regeneration solenoid valves；44-the second is single
To valve；45-third check valves；It 46-positions can regeneration solenoid valve；47-pressure sensors；48-positions can regenerate hydraulic operated valve；49—
Oil circuit；50-brake pumps；51-brake pedals；52-brake circuits；53-safety valves；54-overflow valves；55-brake valves；
56-microswitches；57-oil circuits；58-inlet ports；59-oil circuits；60-oil circuits.
Specific embodiment
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
As shown in Figure 1, a kind of Electro-hydraulic drive system for industrial vehicle, including for power source battery 1,
Microcomputerized controller 3, motor 4, hydraulic oil container, vehicle operation mechanism, steering mechanism and for the vehicle operation mechanism
The variable pump 5 that hydraulic oil is conveyed with steering mechanism, wherein the vehicle operation mechanism includes walking mechanism, leaning device, promotion
Mechanism, kinetic energy recovering mechanism, position energy recovering mechanism and walking speed limiting mechanism.The workflow of the system is：Battery 1 passes through micro-
Machine controller 3 provides power to motor 4, and motor 4 drives variable pump 5 to work, passes through walking mechanism, leaning device, promotion
Mechanism and steering mechanism realize walking, inclination, promotion and the go to action of vehicle；When hoisting mechanism is in heavy load descending, lead to
Cross position can recovering mechanism, the position of heavily loaded cargo can be recycled and be used for battery 1 and charge；In the case where hoisting mechanism is in unloaded or underloading
It, can recovering mechanism realization off-load by position when drop；When vehicle slips by slope and runs slowly, by kinetic energy recovering mechanism, by vehicle
Regeneration kinetic energy be stored in battery 1；By speed limiting mechanism of walking, restricted speed makes vehicle smooth running.
Embodiment one
Referring to the hydraulic circuit figure of Fig. 2, each mechanism for illustrating the Electro-hydraulic drive system is constituted and how real
The existing function.
The hydraulic oil container is multistage combined hydraulic oil container, which includes the next fuel tank 40,
Oil temperature sensor 2, microcomputerized controller 3, motor 4, variable pump 5, velocity sensor 7, first are installed single in the next fuel tank 40
To valve 8, hydraulic oil 10, liquid level sensor 11, kinetic energy regeneration solenoid valve 43, position energy regeneration solenoid valve 46；Motor 4 and variable pump
5 coaxial connections；The information input microcomputerized controller 3 that liquid level sensor 11 and oil temperature sensor 2 export, microcomputerized controller 3 detect
When being increased beyond predetermined value lower than a certain position and/or oil temperature to the liquid level of hydraulic oil 10, alarm signal or by force is exported immediately
It shuts down.
（1）Walking operation
The walking mechanism, including microcomputerized controller 3, motor 4, variable pump 5, incidence regulating mechanism 6, the first check valve
8, it walks reversal valve 12, hydraulic motor 30,31, governor valve 41, second one-way valve 44 and third check valve 45；Variable pump 5 into
First check valve 8 is housed, walk reversal valve 12 and the first check valve 8, the oil inlet and outlet of hydraulic motor 30,31 and limit at hydraulic fluid port 58
Fast valve 41 passes through oil circuit connection.
When vehicle, which advances, to be run, walking 12 handle of reversal valve is placed in forward position, and to put one's foot down 36, accelerate to step on
Plate 36 drives acceleration transducer 37 to send a signal to microcomputerized controller 3, and microcomputerized controller 3 generates corresponding frequencies and voltage letter
Number, drive motor 4 rotates, and motor 4 drives variable pump 5 to export corresponding hydraulic oil, and hydraulic oil commutates through oil circuit 20, walking
Valve 12, oil circuit 32, driving hydraulic motor 30,31 work.The hydraulic oil of hydraulic motor 30,31 through oil circuit 33, walking reversal valve 12,
Oil circuit 35, governor valve 41（At this moment hydraulic fluid pressure increases in oil circuit 20, through oil circuit 42, governor valve 41 is pushed to open）, oil circuit 49,
Upper fuel tank 38, oil circuit 39 flow into fuel tank 40, complete hoofing part.It is exported by the acceleration transducer 37 of accelerator pedal 36
Signal, the revolving speed for controlling motor 4 and variable pump 5 exports corresponding hydraulic oil, the rotation of hydraulic motor 30,31 made to reach corresponding
Speed, adapt to driving vehicle the speed of travel.
（2）Climbing operation
When vehicle, which is climbed, to be run, the load pressure of variable pump 5 is greater than setting, and variable pump 5 passes through incidence regulating mechanism 6
Self-adjustable inclination, variable pump 5 export high pressure liquid pressure oil with small displacement, increase the load torque of hydraulic motor 30,31, revolving speed
Slow down, vehicle does low-speed high-torque operation in climbing.Motor 4 is operated in rated operating range, limits the big of battery 1
Current discharge climbs electric current low 50% compared with same types of vehicles, energy saving.
（3）Braking
When vehicle will stop using, accelerator pedal 36 is decontroled, brake pedal 51 pushes 50 output hydraulic pressure of brake pump
Oil brakes brake 25,26 by hydraulic motor 30,31 by brake circuit 52, and vehicle shuts down.This is stepped on braking simultaneously
The microswitch 56 that plate 51 links acts, and so that brake valve 55 is switched to conduction position, connects the oil inlet and outlet of hydraulic motor 30,31
Logical, hydraulic motor 30,31 is in on-position.Microcomputerized controller 3 makes motor 4 drive variable pump simultaneously with predetermined set program
5 provide hydraulic oil with certain time and speed, cheat the walking mechanism repairing.
（4）Kinetic energy recycling
The kinetic energy recovering mechanism, including microcomputerized controller 3, motor 4, variable pump 5, velocity sensor 7, walking commutation
Valve 12, hydraulic motor 30,31, accelerator pedal 36, acceleration transducer 37 and kinetic energy regeneration solenoid valve 43.
When vehicle deceleration or when slipping by slope operation, accelerator pedal 36 is lifted, is exported accordingly by acceleration transducer 37
Signal, the actual speed that microcomputerized controller 3 measures the velocity sensor 7 of motor 4 be greater than acceleration transducer 37 to constant speed
Degree, microcomputerized controller 3 export high level, make kinetic energy regeneration solenoid valve 43 at channel status, hydraulic in the case where the inertia of vehicle drives
Motor 30,31 operating conditions become the operating condition of hydraulic oil pump, and the hydraulic oil that hydraulic motor 30,31 exports passes through second one-way valve 44, the
Three check valves 45, oil circuit 29, kinetic energy regeneration solenoid valve 43, the oil inlet 58 of entering variable pump 5；Due to the presence of check valve 8, become
Amount pump 5 becomes hydraulic motor operating condition, and driving motor 4 is in generator operating condition, by microcomputerized controller 3, charges to battery 1.
（5）Speed limit walking operation
The walking speed limiting mechanism, including hydraulic motor 30,31, walk reversal valve 12 and governor valve 41.
When vehicle is in and slips by slope state, due to the presence of vehicle inertia, still degree is run hydraulic motor 30,31 in tempo,
Variable pump 5 be will cause for shortage of oil, hydraulic fluid pressure decline in oil circuit 20, hydraulic fluid pressure simultaneously declines in oil circuit 42, speed limit
41 valve port of valve gradually turns down, and operates hydraulic motor 30,31 steadily.
（6）Slant operation
The hydraulic-driven leaning device, including inclined reversing valve 14, dump ram 18 and tilt switch 16, inclination commutation
Valve 14 is connected with dump ram 18 by oil circuit 34,57.
When operating the handle of inclined reversing valve 14, tilt switch 16 exports on-off model to microcomputerized controller 3, microcomputer
Preset instructions signal is sent to motor 4 by controller 3, and 5 output phase of variable pump is driven to answer hydraulic oil, is changed through oil circuit 20, inclination
To valve 14, oil circuit 34,57, the completion of dump ram 18 is set to lean forward, hypsokinesis movement.
（7）Promote operation
The hoisting mechanism, including promote reversal valve 13, promote displacement sensor 23 and lift cylinder 28, promote reversal valve
13 are connected with lift cylinder 28 by oil circuit 17.
When promotion 13 handle of reversal valve is switched to raised position, microcomputer is outputed signal to by promoting displacement sensor 23
Controller 3, microcomputerized controller 3 issue signal, and control motor 4 rotates, and drive 5 output phase of variable pump to answer hydraulic oil, through oil circuit
20, reversal valve 13, oil circuit 17 are promoted, lift cylinder 28 is made to do promotion operation for freight lifting to designated position.
（8）Position can recycle and off-load
Institute's rheme energy recovering mechanism, including promote reversal valve 13, lift cylinder 28, pressure sensor 47, position can regenerate electricity
Magnet valve 46 and variable pump 5.
When promoted 13 handle of reversal valve be switched to lower downshift when, if lift cylinder 28 be heavy duty, pressure sensor 47
According to the height of oil pressure, microcomputerized controller 3 is sent a signal to, position regeneration solenoid valve 46 is enable to be in closed circuit state, lift cylinder 28
Interior load hydraulic oil pumps 5 inlet port 58 through oil circuit 17, promotion reversal valve 13,22 entering variable of oil circuit；Due to check valve 8
Effect, at this moment variable pump 5 becomes hydraulic motor operating condition, and driving motor 4 is in generator operating condition, is controlled by microcomputerized controller 3
The position of the decrease speed of lift cylinder 28, generation can charge to battery 1.
When promotion 13 handle of reversal valve is switched to lower downshift, if lift cylinder 28 is unloaded or underloading, pressure sensing
Device 47 sends a signal to microcomputerized controller 3, so that position regeneration solenoid valve 46 is in channel status and mentions when lift cylinder 28 declines
Hydraulic oil in oil-lifting jar 28 is by oil circuit 17, promotion reversal valve 13, oil circuit 22, position energy regeneration solenoid valve 46 and oil circuit 27, directly
Take back the next fuel tank 40.
Motor 1 in the fluid power system is made of permanent magnetic brushless, frequency-variable controller, Variable plunger pump, forever
Magnetic brushless motor is unloaded and is that zero current starts to load current with starting current is carried, and starts the time in millimetre range.
The hydraulic system by walking reversal valve 12, promoted reversal valve 13 and inclined reversing valve 14 to walking mechanism, incline
Oblique mechanism and hoisting mechanism carry out the oil circuit connection of serial or parallel connection, and parallel circuit can realize interlocking, prevent each operating condition from simultaneously
Movement makes the safe operation process, reliable of vehicle, it is not easy to disastrous accident occur, while there is no superimposed currents to cause
Battery discharge capacity efficiency degradation situation both saves accumulator capacity, reduces charging time and charging expense, and improve
Vehicle utilization.
Embodiment two
Fig. 3 is compared with Fig. 2, and position energy recovering mechanism is different, and other mechanisms are identical；Specifically, hydraulic operated valve 48 can be regenerated with position
Position energy regeneration solenoid valve 46 is substituted, correspondingly substitutes pressure sensor 47 with oil circuit 15.It is returned for sake of simplicity, kinetic energy is omitted in Fig. 3
Receive mechanism.
When promoting 13 handle of reversal valve and being switched to lower downshift, if lift cylinder 28 is heavy duty, in lift cylinder 28
Load hydraulic oil pushes away kinetic potential regeneration hydraulic operated valve 48 through oil circuit 15 and is in closed circuit state, the load hydraulic oil warp in lift cylinder 28
Oil circuit 17, the oil inlet 58 for promoting reversal valve 13,22 entering variable of oil circuit pump 5；Due to the effect of the first check valve 8, this time-varying
Amount pump 5 becomes hydraulic motor operating condition, and driving motor 4 is in generator operating condition, controls lift cylinder 28 by microcomputerized controller 3
The position of decrease speed, generation can charge to battery 1.
When promotion 13 handle of reversal valve is switched to lower downshift, if lift cylinder 28 is unloaded or underloading, lift cylinder
Hydraulic oil in 28 pushes away kinetic potential regeneration hydraulic operated valve 48 through oil circuit 15, so that position is regenerated hydraulic operated valve 48 and is in channel status；It is promoted
When oil cylinder 28 declines, the hydraulic oil in lift cylinder 28 can be regenerated and be surged by oil circuit 17, promotion reversal valve 13, oil circuit 22, position
Valve 46 and oil circuit 27 directly return the next fuel tank 40.
Embodiment three
Fig. 4 increases pressure-gradient control valve 19 compared with Fig. 3, and other mechanisms are identical.For sake of simplicity, kinetic energy recycling machine is omitted in Fig. 4
Structure.
When bend the throttle 36, accelerator sensor 37 issues instruction and cheats microcomputerized controller 3, and motor 4 drives variable
5 output hydraulic pressure oil by the road 20 are pumped, hydraulic oil are defeated by pressure-gradient control valve 19,19 output pipe of pressure-gradient control valve is divided into two tunnels, connects all the way
Diverter 24（The effect of pressure-gradient control valve 19 is to guarantee that using for diverter 24 is oily）, another way connection walking reversal valve 12.
Example IV
Fig. 5 increases pressure-gradient control valve 19 compared with Fig. 2, and other mechanisms are identical.For sake of simplicity, kinetic energy recycling machine is omitted in Fig. 5
Structure.
When bend the throttle 36, accelerator sensor 37 issues instruction and cheats microcomputerized controller 3, and motor 4 drives variable
5 output hydraulic pressure oil by the road 20 are pumped, hydraulic oil are defeated by pressure-gradient control valve 19,19 output pipe of pressure-gradient control valve is divided into two tunnels, connects all the way
Diverter 24（The effect of pressure-gradient control valve 19 is to guarantee that using for diverter 24 is oily）, another way connection walking reversal valve 12.
According to the introduction of the present embodiment, those skilled in the art are can be achieved completely in other scope of the present invention
Technical solution.
Claims (8)
1. a kind of Electro-hydraulic drive system for industrial vehicle, including the battery for power source（1）, microcomputerized controller
（3）, motor（4）, hydraulic oil container, vehicle operation mechanism, steering mechanism and for the vehicle operation mechanism and steering
The variable pump of mechanism conveying hydraulic oil（5）, wherein the vehicle operation mechanism include walking mechanism, leaning device, hoisting mechanism,
Position energy recovering mechanism and walking speed limiting mechanism, it is characterised in that：The hydraulic oil container is multistage combined hydraulic oil container, the multistage
Combination hydraulic fuel tank includes the next fuel tank（40）；The next fuel tank（40）Oil temperature sensor is inside installed（2）, microcomputerized controller
（3）, motor（4）, variable pump（5）, velocity sensor（7）, the first check valve（8）, hydraulic oil（10）, liquid level sensor
（11）, kinetic energy regeneration solenoid valve（43）, position can regeneration valve（46；48）；Motor（4）With variable pump（5）Coaxial connection；The storage
Battery（1）Pass through microcomputerized controller（3）To motor（4）Power, motor are provided（4）Drive variable pump（5）Work, passes through row
Mechanism, leaning device, hoisting mechanism and steering mechanism are walked, realizes walking, inclination, promotion and the go to action of vehicle；It is being promoted
When mechanism is in heavy load descending, by position energy recovering mechanism, the position of heavily loaded cargo can be recycled and be used for battery（1）Charging；?
When hoisting mechanism is in unloaded or is lightly loaded decline, off-load is realized by position energy recovering mechanism；By speed limiting mechanism of walking, vehicle is limited
Speed makes vehicle smooth running；
Institute's rheme energy recovering mechanism, including promote reversal valve（13）, lift cylinder（28）, pressure sensor（47）, position can regenerate
Valve（46）And variable pump（5）, institute's rheme energy regeneration valve（46）It can regeneration solenoid valve for position；In lift cylinder（28）Under heavy duty
When drop, pressure sensor（47）According to the height of oil pressure, microcomputerized controller is sent a signal to（3）, enable position regeneration solenoid valve
（46）In closed circuit state, lift cylinder（28）Interior load hydraulic oil is through oil circuit（17）, promoted reversal valve（13）, oil circuit（22）
Entering variable pump（5）Oil inlet（58）, at this moment variable pump（5）Become hydraulic motor operating condition, drives motor（4）In generator
Operating condition passes through microcomputerized controller（3）Control lift cylinder（28）Decrease speed, the position of generation can be to battery（1）Charging；?
Lift cylinder（28）When in unloaded or underloading decline, pressure sensor（47）Send a signal to microcomputerized controller（3）, enable position
Regeneration solenoid valve（46）In channel status, lift cylinder（28）When decline, lift cylinder（28）Interior hydraulic oil is through oil circuit
（17）, promoted reversal valve（13）, oil circuit（22）, position can regeneration solenoid valve（46）, oil circuit（27）, directly return the next fuel tank（40）.
2. a kind of Electro-hydraulic drive system for industrial vehicle, including the battery for power source（1）, microcomputerized controller
（3）, motor（4）, hydraulic oil container, vehicle operation mechanism, steering mechanism and for the vehicle operation mechanism and steering
The variable pump of mechanism conveying hydraulic oil（5）, wherein the vehicle operation mechanism include walking mechanism, leaning device, hoisting mechanism,
Position energy recovering mechanism and walking speed limiting mechanism, it is characterised in that：The hydraulic oil container is multistage combined hydraulic oil container, the multistage
Combination hydraulic fuel tank includes the next fuel tank（40）；The next fuel tank（40）Oil temperature sensor is inside installed（2）, microcomputerized controller
（3）, motor（4）, variable pump（5）, velocity sensor（7）, the first check valve（8）, hydraulic oil（10）, liquid level sensor
（11）, kinetic energy regeneration solenoid valve（43）, position can regeneration valve（46；48）；Motor（4）With variable pump（5）Coaxial connection；The storage
Battery（1）Pass through microcomputerized controller（3）To motor（4）Power, motor are provided（4）Drive variable pump（5）Work, passes through row
Mechanism, leaning device, hoisting mechanism and steering mechanism are walked, realizes walking, inclination, promotion and the go to action of vehicle；It is being promoted
When mechanism is in heavy load descending, by position energy recovering mechanism, the position of heavily loaded cargo can be recycled and be used for battery（1）Charging；?
When hoisting mechanism is in unloaded or is lightly loaded decline, off-load is realized by position energy recovering mechanism；By speed limiting mechanism of walking, vehicle is limited
Speed makes vehicle smooth running；
Institute's rheme energy recovering mechanism, including promote reversal valve（13）, lift cylinder（28）, oil circuit（15）, position can regeneration valve（48）
And variable pump（5）, institute's rheme energy regeneration valve（48）Hydraulic operated valve can be regenerated for position；In lift cylinder（28）When in heavy load descending,
Lift cylinder（28）Interior load hydraulic oil is through oil circuit（15）Push away kinetic potential regeneration hydraulic operated valve（48）, position is enable to regenerate hydraulic operated valve
（48）In closed circuit state, lift cylinder（28）Interior load hydraulic oil is through oil circuit（17）, promoted reversal valve（13）, oil circuit（22）
Entering variable pump（5）Oil inlet（58）, at this moment variable pump（5）Become hydraulic motor operating condition, drives motor（4）In generator
Operating condition passes through microcomputerized controller（3）Control lift cylinder（28）Decrease speed, the position of generation can be to battery（1）Charging；?
Hoisting mechanism is in zero load or at light load, lift cylinder（28）Interior hydraulic oil is through oil circuit（15）Push away kinetic potential regeneration hydraulic operated valve
（48）, position is enable to regenerate hydraulic operated valve（48）In channel status, lift cylinder（28）When decline, lift cylinder（28）Interior is hydraulic
Oil is through oil circuit（17）, promoted reversal valve（13）, oil circuit（22）, position can regenerate hydraulic operated valve（48）, oil circuit（27）, directly return the next oil
Case（40）.
3. a kind of Electro-hydraulic drive system for industrial vehicle according to claim 1 or claim 2, it is characterised in that：It is described
Vehicle operation structure further includes kinetic energy recovering mechanism, when vehicle slips by slope and runs slowly, by kinetic energy recovering mechanism, by vehicle
Regeneration kinetic energy be stored in battery（1）；The kinetic energy recovering mechanism, including microcomputerized controller（3）, motor（4）, variable
Pump（5）, velocity sensor（7）, walking reversal valve（12）, hydraulic motor（30,31）, accelerator pedal（36）, acceleration transducer
（37）With kinetic energy regeneration solenoid valve（43）；In vehicle deceleration or when slipping by slope operation, accelerator pedal（36）It lifts, is passed by acceleration
Sensor（37）Export corresponding signal, microcomputerized controller（3）Measure motor（4）Velocity sensor（7）Actual speed it is big
In acceleration transducer（37）Given speed, microcomputerized controller (3) export high level, make kinetic energy regeneration solenoid valve（43）Cheng Tong
Line state, in the case where the inertia of vehicle drives, hydraulic motor（30,31）Operating condition becomes the operating condition of hydraulic oil pump, hydraulic motor（30,
31）The hydraulic oil of output passes through second one-way valve（44）, third check valve（45）, oil circuit（29）, kinetic energy regeneration solenoid valve（43）,
Entering variable pump（5）Oil inlet（58）, make variable pump（5）Become hydraulic motor operating condition, drives motor（4）In generator work
Condition passes through microcomputerized controller（3）, to battery（1）Charging.
4. a kind of Electro-hydraulic drive system for industrial vehicle according to claim 1 or claim 2, it is characterised in that：It is described
Walking speed limiting mechanism, including hydraulic motor（30,31）, walking reversal valve（12）And governor valve（41）；It is in vehicle and slips by slope shape
When state, due to the presence of vehicle inertia, hydraulic motor（30,31）Still degree operation in tempo, will cause variable pump（5）Fuel feeding is not
Foot, oil circuit（20）Interior hydraulic fluid pressure decline, oil circuit（42）Interior hydraulic fluid pressure simultaneously declines, governor valve（41）Valve port gradually closes
It is small, make hydraulic motor（30,31）Steady operating.
5. a kind of Electro-hydraulic drive system for industrial vehicle according to claim 1 or claim 2, it is characterised in that：It is described
Walking mechanism, including microcomputerized controller（3）, motor（4）, variable pump（5）, incidence regulating mechanism（6）, the first check valve（8）,
Walking reversal valve（12）, hydraulic motor（30,31）, governor valve（41）, second one-way valve（44）With third check valve（45）；Variable
Pump（5）Oil inlet is equipped with the first check valve（8）, reversal valve of walking（12）With the first check valve（8）, hydraulic motor（30,31）Into
Oil outlet and governor valve（41）Pass through oil circuit connection；When vehicle, which advances, to be run, reversal valve of walking（12）Handle is placed in drive shift
Position, to put one's foot down（36）, accelerator pedal（36）Drive acceleration transducer（37）Send a signal to microcomputerized controller
（3）, microcomputerized controller（3）Generate corresponding frequencies and voltage signal, drive motor（4）Rotation, motor（4）Drive variable pump
（5）Corresponding hydraulic oil is exported, hydraulic oil is through oil circuit（20）, walking reversal valve（12）, oil circuit（32）, drive hydraulic motor（30,
31）Work；In vehicle climbing, variable pump（5）Load pressure increase, variable pump（5）Passed through according to load pressure setting
Incidence regulating mechanism（6）Automatic variable is carried out, low-speed big climbing is reached；When vehicle will stop using, decontrols and accelerate to step on
Plate（36）, brake pedal（51）, push brake pump（50）Output hydraulic pressure oil, passes through brake circuit（52）Make brake（25,
26）By hydraulic motor（30,31）Braking, vehicle shuts down, this is simultaneously and brake pedal（51）The microswitch of linkage（56）
Movement, makes brake valve（55）It is switched to conduction position, makes hydraulic motor（30,31）Oil inlet and outlet connection, hydraulic motor（30,
31）In on-position, while microcomputerized controller（3）Make motor with predetermined set program（4）Drive variable pump（5）With certain
Time and speed provide hydraulic oil, give the walking mechanism repairing.
6. a kind of Electro-hydraulic drive system for industrial vehicle according to claim 1 or claim 2, it is characterised in that：It is described
Leaning device, including inclined reversing valve（14）, dump ram（18）And tilt switch（16）, inclined reversing valve（14）With inclination oil
Cylinder（18）Pass through oil circuit（34,57）It is connected；In operation inclined reversing valve（14）Handle when, tilt switch（16）Export switching value
Signal is to microcomputerized controller（3）, microcomputerized controller（3）Preset instructions signal is sent to motor（4）, drive variable pump（5）
Output phase answers hydraulic oil, through oil circuit（20）, inclined reversing valve（14）, oil circuit（34,57）, make dump ram（18）Completion leans forward,
Hypsokinesis movement.
7. a kind of Electro-hydraulic drive system for industrial vehicle according to claim 1 or 2, it is characterised in that：Institute
Hoisting mechanism is stated, including promotes reversal valve（13）, promoted displacement sensor（23）And lift cylinder（28）, promote reversal valve（13）
With lift cylinder（28）Pass through oil circuit（17）It is connected；Promoting reversal valve（13）When handle is switched to promotion shelves, passes through and promote position
Displacement sensor（23）Output signal to microcomputerized controller（3）, microcomputer control（3）It issues signal and controls motor（4）Rotation drives
Variable pump（5）Corresponding hydraulic oil is exported, through oil circuit（20）, promoted reversal valve（13）, oil circuit（17）, make lift cylinder（28）Make
Operation is promoted by freight lifting to designated position.
8. existing according to claim 1 to a kind of Electro-hydraulic drive system for industrial vehicle, feature described in any one of 2
In：The motor（1）It is made of permanent magnetic brushless, frequency-variable controller and Variable plunger pump, the permanent magnetic brushless is empty
It carries and starts for zero current to load current with starting current is carried, start the time in millimetre range；The walking mechanism, inclination
It is the oil circuit connection of serial or parallel connection between mechanism and hoisting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510682127.0A CN105197840B (en) | 2015-04-16 | 2015-10-21 | A kind of Electro-hydraulic drive system for industrial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510179329.3A CN104763696A (en) | 2015-04-16 | 2015-04-16 | Electronic control hydraulic driving system used for industrial vehicles |
| CN2015101793293 | 2015-04-16 | ||
| CN201510682127.0A CN105197840B (en) | 2015-04-16 | 2015-10-21 | A kind of Electro-hydraulic drive system for industrial vehicle |
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| CN105197840A CN105197840A (en) | 2015-12-30 |
| CN105197840B true CN105197840B (en) | 2018-11-20 |
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| CN201510179329.3A Pending CN104763696A (en) | 2015-04-16 | 2015-04-16 | Electronic control hydraulic driving system used for industrial vehicles |
| CN201510682127.0A Active CN105197840B (en) | 2015-04-16 | 2015-10-21 | A kind of Electro-hydraulic drive system for industrial vehicle |
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| CN105621322A (en) * | 2016-02-24 | 2016-06-01 | 上海市闸北区物流工程技术研究所 | Full-hydraulic electric stacking forklift |
| CN107840280B (en) * | 2016-09-21 | 2019-11-08 | 比亚迪股份有限公司 | The lift control system and its control method of fork truck |
| US10322688B2 (en) * | 2016-12-30 | 2019-06-18 | Textron Innovations Inc. | Controlling electrical access to a lithium battery on a utility vehicle |
| CN106704307A (en) * | 2017-01-19 | 2017-05-24 | 上海市闸北区物流工程技术研究所 | Anti-explosion electronic control hydraulic driving system used for engineering machinery vehicle |
| CN106966340A (en) * | 2017-05-10 | 2017-07-21 | 安徽宇锋仓储设备有限公司 | A kind of forklift-walking hydraulic control method |
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| CN109268352A (en) * | 2017-07-12 | 2019-01-25 | 博世力士乐（北京）液压有限公司 | Hydraulic control system and corresponding mobile working equipment |
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| CN112242800B (en) * | 2020-11-20 | 2022-05-17 | 中船华南船舶机械有限公司 | Multi-motor electric control system |
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| CN113267350B (en) * | 2021-05-25 | 2022-05-10 | 安徽合力股份有限公司 | Hybrid power forklift climbing performance evaluation method |
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| CN114538333B (en) * | 2022-03-03 | 2023-08-18 | 华侨大学 | Distributed electrohydraulic driven forklift and system thereof |
| CN114715818B (en) * | 2022-04-26 | 2023-05-16 | 华侨大学 | Separate type electro-hydraulic driven forklift potential energy recovery system and separate type electro-hydraulic driven forklift |
| CN114940467B (en) * | 2022-05-24 | 2023-11-03 | 华侨大学 | Electro-hydraulic composite forklift and driving system, method and device thereof as well as storage medium |
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| CN104763696A (en) | 2015-07-08 |
| CN105197840A (en) | 2015-12-30 |
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