CN108298474A - A kind of fork truck energy saving system with speed-regulating function - Google Patents
A kind of fork truck energy saving system with speed-regulating function Download PDFInfo
- Publication number
- CN108298474A CN108298474A CN201711437196.0A CN201711437196A CN108298474A CN 108298474 A CN108298474 A CN 108298474A CN 201711437196 A CN201711437196 A CN 201711437196A CN 108298474 A CN108298474 A CN 108298474A
- Authority
- CN
- China
- Prior art keywords
- valve
- speed
- hydraulic
- motor
- oil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 37
- 230000003028 elevating effect Effects 0.000 claims abstract description 35
- 238000004146 energy storage Methods 0.000 claims abstract description 24
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 230000007423 decrease Effects 0.000 claims abstract description 15
- 239000013589 supplement Substances 0.000 claims abstract description 15
- MFOUDYKPLGXPGO-UHFFFAOYSA-N propachlor Chemical compound ClCC(=O)N(C(C)C)C1=CC=CC=C1 MFOUDYKPLGXPGO-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 47
- 239000010720 hydraulic oil Substances 0.000 claims description 28
- 239000003990 capacitor Substances 0.000 claims description 27
- 239000004065 semiconductor Substances 0.000 claims description 18
- 238000009355 double cropping Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 5
- 239000000446 fuel Substances 0.000 claims description 3
- 238000005381 potential energy Methods 0.000 abstract description 24
- 238000011084 recovery Methods 0.000 abstract description 3
- 239000002828 fuel tank Substances 0.000 abstract description 2
- 238000010438 heat treatment Methods 0.000 abstract 1
- 238000007600 charging Methods 0.000 description 9
- 238000004064 recycling Methods 0.000 description 9
- RRLHMJHRFMHVNM-BQVXCWBNSA-N [(2s,3r,6r)-6-[5-[5-hydroxy-3-(4-hydroxyphenyl)-4-oxochromen-7-yl]oxypentoxy]-2-methyl-3,6-dihydro-2h-pyran-3-yl] acetate Chemical compound C1=C[C@@H](OC(C)=O)[C@H](C)O[C@H]1OCCCCCOC1=CC(O)=C2C(=O)C(C=3C=CC(O)=CC=3)=COC2=C1 RRLHMJHRFMHVNM-BQVXCWBNSA-N 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000002253 acid Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000005417 food ingredient Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 235000013324 preserved food Nutrition 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/01—Locking-valves or other detent i.e. load-holding devices
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
-
- 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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- 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
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Analytical Chemistry (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention provides a kind of fork truck energy saving system with speed-regulating function, including double acting motor generator, double-acting pump motor, seal-off pressure oil tank, liquid-controlled oil supplement valve, bidirectional hydraulic locking-valve, elevating ram, safety valve, three-phase bridge type converter energizes energy storage device, control device, fuel tank；Double-acting pump motor is connected with double acting motor generator；Double acting motor generator is connected with three-phase bridge type converter；Three-phase bridge type converter is connected with energy supply energy storage device；Control device controls three-phase bridge type converter and energizes the working condition of energy storage device；The oil discharge outlet and inlet port of double-acting pump motor are connected with liquid-controlled oil supplement valve；Liquid-controlled oil supplement valve is connected with bidirectional hydraulic locking-valve, and bidirectional hydraulic locking-valve is connected with elevating ram rod chamber and rodless cavity；Elevating ram rod chamber and rodless cavity are connected with safety valve.The potential energy recovery system of the present invention is by controlling double acting motor generator rotational speed regulation pallet fork decrease speed, hydraulic circuit restriction loss is eliminated, hydraulic pressure heating of oil is reduced, improves potential energy organic efficiency, and system hardware and software is simple and reliable, it can be achieved that degree is high.
Description
Technical field
The present invention relates to a kind of fork truck energy conserving systems, the more particularly to a kind of energy-efficient system of fork truck with speed-regulating function
System.
Background technology
In recent years, Logistics Industry scale grows continuously and fast, and social logistics total cost accounts for GDP proportions and remains high, fork
Vehicle carries equipment as the core of logistics, to ensureing that conevying efficiency, enhancing economic strength are of great significance.The whole world in 2015
Fork truck total sales volume 106.42 ten thousand, China's fork truck sales volume 32.76 ten thousand account for total sales volume ratio 30.7%, rank the world within continuous 7 years
First big fork truck consumption market.But in forklift truck products, since industry is started late, electri forklift sales volume accounts for fork truck pin in China
20% or so of amount, the market accounting rate of the electri forklifts such as this and America and Europe, Japan 60% still has larger gap.And electri forklift by
The features such as, low noise small in self-pollution, following electri forklift huge in industry markets spaces such as warehouse logistics, food medicine
Sales volume accounting will be promoted gradually.Electri forklift has many advantages, such as, but it is to restrict electri forklift shift that cruise duration is short
An important factor for.The frequent cargo lifting of electri forklift hoisting system, consumes big energy, accounts for vehicle energy consumption than nearly 50%, and
Frequent cargo declines has great potential in terms of potential energy recycling.In terms of electri forklift potential energy recycling at this stage, in addition to present
Research hotspot, using energy storage device recycle decline potential energy further how to be carried to greatest extent on the basis of energy storage device
High potential energy organic efficiency is present research emphasis, and research weak link.For electri forklift potential energy organic efficiency side
Face adjusts the restriction loss of the electrohydraulic servo valve of pallet fork decrease speed in hydraulic system, not only directly results in hydraulic system hair
Heat and the low key factor of losses of potential energy, potential energy organic efficiency, therefore restriction loss is reduced, to improving the recycling of fork truck potential energy
Efficiency is of great significance.In addition electri forklift energy storage device multiselect lead-acid accumulator energy storage, and fork of forklift truck declines process
Usually between more than ten seconds to tens seconds, lead-acid accumulator power density is low, and quick charge is difficult in the short time, is unable to high efficiency
It recycles pallet fork and declines potential energy.
For electri forklift potential energy recovery system, the prior art is as follows：
By taking Chinese patent 200610042603.3 as an example, adjusted by electrohydraulic servo valve and generator-motor pump control system
Pallet fork decrease speed needs the operating configurations for controlling motor, revolution speed and electrohydraulic servo valve simultaneously, i.e. motor, pump, electromagnetic servo
The real-time high-precision of valve matches, and requires high to system hardware and software equipment, it can be achieved that property requires height.
By taking Chinese patent 201210128114.5 as an example, energy regeneration and recycling are realized by multi-way valve, but multi-way valve
Complicated, oil circuit is more, and forklift steering system and hoisting system are designed in a hydraulic system, hydraulic circuit change variation
Greatly, operation complexity is high.
By taking Chinese patent 201620398878.X as an example, electri forklift is realized by throttle grverning and variable speed volumetric speed control
Potential energy recycles, but hydraulic system hand-operated direction valve control accuracy is low, and throttle grverning energy loss is big, also results in hydraulic pressure fry dried food ingredients
Heat reduces system effectiveness.
Invention content
In view of the deficiency of the prior art, the invention reside in provide under pallet fork speed-regulating function, nominal situation
There is no the electri forklift energy saving system of restriction loss.
Technical solution is used by the present invention solves above-mentioned technical problem：A kind of fork truck with speed-regulating function efficiently saves
Energy system, including double acting motor, double acting motor, bidirectional hydraulic locking-valve, elevating ram, three-phase bridge type converter, energy supply storage
It can device and control device；Double acting motor is connected with double acting motor, the oil discharge outlet and inlet port of double acting motor with it is two-way
Hydraulic pressure locking-valve is connected；Bidirectional hydraulic locking-valve is connected with the rod chamber of elevating ram and rodless cavity respectively；Control device includes control
Chip and auxiliary circuit, double acting motor are connected with three-phase bridge type converter, three-phase bridge type converter and energy supply energy storage device phase
Even, control device is respectively connected to three-phase bridge type converter and energizes energy storage device and control the working condition of the two.
Further, control device receives the acquisition signal of current sensor, voltage sensor and speed encoder, output
Pwm signal controls the turn-on and turn-off condition of metal-oxide-semiconductor in three-phase bridge type converter, control energy supply energy storage device repeat circuit
Turn-on and turn-off condition, current sensor are mounted on U, V phase in the three-phase wire of three-phase inverter, and voltage sensor is mounted on
The output end of super capacitor and accumulator, speed encoder are mounted on double acting motor output shaft.
Further, control chip is ATMEGA328P-PU chips.
Further, which further includes liquid-controlled oil supplement valve and seal-off pressure oil tank, seal-off pressure oil tank and hydraulic control repairing
Valve is connected, and liquid-controlled oil supplement valve is connected in parallel on the oil outlet and inlet port of double acting motor, and the hydraulic oil of seal-off pressure oil tank passes through liquid
Two check valves for controlling Fill valve can be respectively to the oil outlet of double acting motor and inlet port fuel feeding.
Further, which includes safety valve, and safety valve is made of two overflow valves, two overflow valves respectively with lifting
Cylinder rod chamber is connected with rodless cavity.
Further, double acting motor includes motor and generator, exports electric energy when double acting motor rotates forward, works as motor
It is produced electricl energy when reversion.
Further, double acting motor includes motor and pump, generates attraction when double acting motor rotates forward, works as double acting
Motor generates thrust when inverting.
Further, when hydraulic oil flows into bidirectional hydraulic locking-valve left side hydraulic control one-way valve, oil pressure cntrol bidirectional hydraulic locking-valve
The right hydraulic control one-way valve is reversely opened, and the hydraulic oil into elevating ram rodless cavity pushes elevating ram rod chamber hydraulic oil to pass through
Hydraulic control one-way valve on the right of two-way locking-valve, flows back to double acting motor；When hydraulic oil flows into hydraulic control one-way valve on the right of bidirectional hydraulic locking-valve,
Oil pressure cntrol bidirectional hydraulic locking-valve left side hydraulic control one-way valve is reversely opened, and the hydraulic oil into elevating ram rod chamber pushes lifting
Oil cylinder rodless cavity hydraulic oil flows back to double acting motor by two-way locking-valve left side hydraulic control one-way valve.
Further, when pallet fork decrease speed is excessively slow, current sensor and speed encoder on generator are by generator
Working speed, torque conditions are transmitted to control device, and control device compares generator actual speed signal with given rotating speed, adjust
Metal-oxide-semiconductor switching sequence increases double acting electric motor-generator rotating speed, reduces double acting electric motor-generator torque, reduces double acting
Pump-motor torque reduces hydraulic system and declines resistance, and hydraulic oil accelerates stream by the hydraulic control one-way valve on the right of bidirectional hydraulic locking-valve
Enter elevating ram rod chamber, while the hydraulic control one-way valve reverse opening on the hydraulic control bidirectional hydraulic locking-valve left side, elevating ram without
Rod cavity hydraulic oil flows back to double-acting pump-motor by the hydraulic control one-way valve quickening on the bidirectional hydraulic locking-valve left side, and then accelerates pallet fork
Decrease speed.
The beneficial effects of the invention are as follows：1. the pump control system that the present invention is made up of double acting motor, double acting motor, profit
It is avoided the complicated of valve control system to be controlled pallet fork decrease speed with Direct Torque technical controlling double acting motor speed and adjusted
Fast process, control device is simple, not high to system hardware and software requirement, it can be achieved that property is high.2. the present invention passes through double cropping electricity consumption
The pump control system of machine, double acting motor composition eliminates system instead of controlling the electrohydraulic servo valve of pallet fork decrease speed in original system
Restriction loss under system nominal situation, improves potential energy organic efficiency, further extends accumulator single charge and discharge usage time, prolongs
Long fork truck storage battery cruise duration；3. the present invention passes through bidirectional hydraulic locking-valve, liquid-controlled oil supplement valve, double acting motor, double acting horse
Up to the potential energy recovery system with pallet fork speed-regulating function of composition, oil circuit is simple, and control is simple, operating practice it is convenient, it can be achieved that
Property it is high；4. in the present invention, super capacitor power density is high, recycling pallet fork by super capacitor declines potential energy, quick charge and discharge
Electrical property, it can be achieved that short time internal potential energy high efficiency recycling, and raising moment electric energy can be provided for electri forklift hoisting system,
Smooth accumulator output power, increasing storage battery service life.5. the present invention is mounted in current sensor in three-phase inverter
Current sensor is installed, voltage sensor is installed in the output end of super capacitor and accumulator, is pacified in double acting motor output shaft
Speed encoder is filled, acquires the current signal of three-phase inverter, the voltage signal and motor of super capacitor and accumulator in real time
The tach signal of output shaft is simultaneously sent to control system, control system according to above-mentioned signal can obtain rising to pallet fork and under
The speed of drop, and oil circuit is adjusted in the switching sequence by adjusting metal-oxide-semiconductor, and the pallet fork speed of service is adjusted to realize
Purpose, of the invention easy to operate, precise control.
Description of the drawings
Fig. 1 is the entire block diagram of the present invention.
Fig. 2 is energy supply-energy storage device schematic diagram of the present invention.
Fig. 3 is the three-phase bridge type converter schematic diagram of the present invention, and wherein B4, B6, B8, B10, B12, B14 is diode,
B15, B16, B17 are resistance.
Fig. 4 is the control device schematic diagram of the present invention.
Specific implementation mode
Technical scheme of the present invention is described specifically with reference to embodiments, embodiment is only used for further illustrating this hair
It is bright, and not limitation of the invention.
With reference to attached drawing 1, the present invention provides a kind of fork truck energy saving system with speed-regulating function, including double acting motor
1, double acting motor 2, seal-off pressure oil tank 8, liquid-controlled oil supplement valve 3, bidirectional hydraulic locking-valve 4,5 safety valve 6 of elevating ram, three-phase bridge
Formula inverter, energy supply-energy storage device, control device, fuel tank 7；Double acting motor 2 is connected with double acting motor 1；Double acting motor
1 oil discharge outlet and inlet port is connected with bidirectional hydraulic locking-valve 4；Bidirectional hydraulic locking-valve 4 respectively with the rod chamber of elevating ram 5 and
Rodless cavity is connected；Control device includes that control chip and auxiliary circuit, double acting motor are connected with three-phase bridge type converter, three-phase
Bridge-type inverter is connected with energy supply energy storage device, and control device is respectively connected to three-phase bridge type converter and energy supply energy storage device
And control the working condition of the two.
1 output shaft of double acting motor installs built-in bearing speed encoder, completes to motor rotor position and rotary speed information
Detection, detection signal is transmitted to the I/O mouths of control device ATMEGA328P-PU chips.
Seal-off pressure oil tank 8 is connected with liquid-controlled oil supplement valve 3, and liquid-controlled oil supplement valve 3 is connected in parallel on the oil outlet of double acting motor 2
And inlet port, the hydraulic oil of seal-off pressure oil tank 8 can be respectively to double acting motor by two check valves of liquid-controlled oil supplement valve 3
Oil outlet and inlet port fuel feeding.
Safety valve 6 is made of two overflow valves, and two overflow valves are connected with 5 rod chamber of elevating ram and rodless cavity respectively.
Since fork of forklift truck lifting weight weight has larger uncertainty, so when pallet fork is declined suddenly by greater impact, lifting
5 hydraulic oil of oil cylinder has little time to flow, and easily occurs suppressing cylinder phenomenon, it is such in order to prevent the occurrence of, when pressure in elevating ram
When reaching relief valve set pressure, overflow valve is opened, and discharges the pressure in elevating ram 5, protects elevating ram 5.Energy supply-storage
Can device be made of accumulator A1 and super capacitor A2 with reference to attached drawing 2, further include respectively with accumulator A1 and super capacitor A2
Connected the first relay A5, the second relay A6 and first voltage sensors A 3, second voltage sensors A 4.Accumulator
A1 and super capacitor A2 is connected in parallel on the output end of three-phase bridge type converter, provides energy source for forklift lifting system, and for storing up
Stock fork declines the potential energy of recycling.When pallet fork declines, second voltage sensors A 4 is with the detection frequency detecting super capacitor of 1KHZ
A2 both end voltages, when super capacitor A2 both end voltages are less than rated voltage 27V, control device controls the second relay A6 and leads
Logical, it is preferably super capacitor A2 power supplies that pallet fork, which declines potential energy,；When pallet fork declines or when super capacitor A2 is recycling potential energy charging,
When super capacitor A2 both end voltages are not less than rated voltage, control device control the second relay A6 shutdowns, the first relay
A5 is connected, and it is accumulator A1 chargings that pallet fork, which declines potential energy,；At the end of pallet fork descending stroke, control device controls the first relay
A5, the second relay A6 shutdowns.When pallet fork lifts, second voltage sensors A 4 detects super capacitor A1 both end voltages, when super
When grade capacitance A1 both end voltages are not less than rated voltage, control device control the second relay A6 conductings, super capacitor A2 is fork
Vehicle lifts moment and provides electric energy, power-on time 1 to 2 second or until when super capacitor A2 undertension 20V, control device control later
The second relay A6 shutdowns, the first relay A5 conductings are made, is forklift lifting system power supply by accumulator A1.
Voltage sensor utilizes electric resistance partial pressure principle, port input voltage is reduced five times, detected value is transmitted to
ATMEGA328P-PU chip Is/O mouthfuls, complete the acquisition of voltage signal.
Three-phase bridge type converter mainly completes the AC-DC conversion of electric current between energy supply-energy storage device and double acting motor 1,
Energy supply-energy storage device operating current is direct current, and 1 operating current of double acting motor is three-phase alternating current.Three-phase bridge type converter
Structure it is as shown in Fig. 3, be mainly made of the diode of six or six times of several metal-oxide-semiconductors, six free switch.Same perpendicular row
Metal-oxide-semiconductor be a phase, to avoid DC power supply short-circuit, per phase MOS synchronizations, only there are one conductings.When energy supply-energy storage device
When powering for double acting motor 1, control device sends out the conducting and shutdown that pwm signal controls six metal-oxide-semiconductors, using between three-phase
The conducting of different metal-oxide-semiconductors is delayed, and can DC voltage be converted to sequence of voltage pulses, to drive double acting motor 1；Because each
When driving the multiple metal-oxide-semiconductor parallel connections of bridge arm, driving current can be increased, therefore according to the rated current situation of double acting motor 1, really
The number of metal-oxide-semiconductor needed for fixed.When double acting motor 1 is energy supply energy storage device charging, metal-oxide-semiconductor is stopped, each drive axle
The diode of upper free switch is converted into six traditional pulse rectifiers, converts three-phase alternating current to direct current, is accumulator
Charging.First current sensor B1 and the second current sensor B2 detects the electric current of three-phase electricity U, V phase, detection signal transmission respectively
ATMEGA328P-PU chips are given, using three-phase current and is zero, W phase currents can be found out, are worked as by detecting electric current and may determine that
The torque conditions of preceding double acting motor 1.
Current sensor is electromagnetic isolation Hall element, and when having electric current to flow through in electric wire, induction is generated in Hall element
Magnetic field, the current signal detected are transferred directly to the I/O mouths of control device ATMEGA328P-PU chips, complete current signal
Acquisition.
Control device is mainly made of ATMEGA328P-PU chips and auxiliary circuit, as shown in Fig. 4.
ATMEGA328P-PU integrated chips are in arduino plates, including digital I/O interfaces and simulation I/O interfaces, can complete to electric current
The data acquisition of signal, voltage signal, output pwm signal control the break-make of relay, electric operation control circuit figure such as Fig. 3 of control device
It is shown.ATMEGA328P-PU chips receive pallet fork raising signal, dropping signal, and acquire the biography of the voltage in energy supply-energy storage device
Sensor signal controls the break-make situation of energy supply-energy storage device repeat circuit；Control device is controlled by Study on direct torque control technology
1 rotating speed of double acting motor, ATMEGA328P-PU chips receive the speed preset (command speed) in program, pass through Hall
Current sensor and speed encoder judge the working condition of current three-phase bridge type converter, generate torque command (torque current)
The working condition of three-phase bridge type converter is controlled, and then controls 1 rotating speed of double acting motor.
Embodiment 1, the first working condition.
When pallet fork raising, control device is connected to pallet fork raising signal, and second voltage sensors A 5 detects super electricity at this time
Hold A2 both end voltages, if super capacitor A2 both end voltages are not less than rated voltage, control device controls the second relay A6 and leads
Logical, super capacitor A2 provides electric energy for forklift lifting moment, and power-on time is 1 to 2 second or until super capacitor A2 undertensions
When 20V, the second relay A6 of control device control later shutdowns, the first relay A5 conductings, are forklift lifting by accumulator A1
System power supply.The direct current of super capacitor A2 or accumulator A1, control device are controlled three-phase bridge by three-phase bridge type converter at this time
Formula inverter metal-oxide-semiconductor B3, B13, B7, B5, B11, B9 are opened successively, and control metal-oxide-semiconductor switching sequence difference 120 between three-phase
Degree makes the close output sine waves of U, V, W tri- that converting direct-current power into alternating-current power to be powered, at this time double cropping for double acting motor 1
It is operated in motor status with motor 1.Double acting motor 1 drives double acting motor 2 to rotate, and double acting motor 2 is operated in pump at this time
State.The electric current and tach signal of control device real-time reception double acting motor 1, and with control program in given rotating speed pair
Than controlling pwm signal, and then change the switching sequence of metal-oxide-semiconductor, making U, V, W three-phase output voltage amplitude and double acting motor 1
Power angle controls generator speed to control three-phase alternating voltage, and then controls revolution speed.Pump drives hydraulic oil by two-way
Hydraulic pressure locking-valve 4 flows to 5 rodless cavity of elevating ram, when pallet fork needs to rest on some position completion tripping action, pumps by working
State becomes off working state, and bidirectional hydraulic locking-valve 4 cuts off rapidly oil circuit, prevents 5 rodless cavity oil return of elevating ram, and then lock
Pallet fork position.When electri forklift hoisting system is encountered compared with heavy duty, cause 5 rod chamber of elevating ram and rodless cavity differing pressure compared with
When there is hydraulic oil impact greatly or suddenly, safety valve 6 is opened at this time, automatic adjustment 5 rod chamber of elevating ram and rodless cavity pressure
Difference prevents elevating ram 5 from occurring suppressing cylinder phenomenon.In the course of work of pump, if pumping shortage of oil, lead to raising oil circuit hydraulic pressure
When shortage of oil, liquid-controlled oil supplement valve 3 gives pump repairing automatically, ensures the normal work of hydraulic system.
Embodiment 2, the first working condition.
When pallet fork declines, 5 rodless cavity oil return of elevating ram, bidirectional hydraulic locking-valve 4 is opened, and hydraulic oil passes through bidirectional hydraulic
Locking-valve 4 flows into double acting pump-motor 2, and double acting motor 2 is driven to invert.At this point, double acting motor 2 is operated in pump state.Pump
Double acting motor 1 is driven to invert, at this point, double acting motor 1 is operated in Generator Status, electrical power generators are inverse by three-phase bridge
Become device to super capacitor A2 or accumulator A1 chargings.When pallet fork decrease speed is too fast, the current sensor on generator and speed
Generator operation rotating speed, torque conditions are transmitted to control device by encoder, control device by generator actual speed signal with give
Determine rotating ratio pair, calculate the angle of stator magnetic linkage space vector, select nearby by metal-oxide-semiconductor B3, B9, B11 or B5, B7, B13 or
B5, B7, B11 or B5, B9, B11 conducting, make 1 stator magnetic linkage of double acting motor become larger, increase generator torque, increase motor and turn
Square increases hydraulic system and declines resistance, and hydraulic oil slows down inflow lifting by the hydraulic control one-way valve on 4 the right of bidirectional hydraulic locking-valve
5 rod chamber of oil cylinder, while the hydraulic control one-way valve reverse opening on 4 left side of hydraulic control bidirectional hydraulic locking-valve, elevating ram 5 is without bar
Chamber hydraulic oil is slowed down by the hydraulic control one-way valve on 4 left side of bidirectional hydraulic locking-valve flows back to double-acting pump-motor, and then slows down under pallet fork
Reduction of speed degree.When pallet fork decrease speed is excessively slow, select nearby by metal-oxide-semiconductor B3, B9, B13 or B3, B9, B11 or B3, B7, B11 or
B5, B9, B13 are connected, and 1 stator magnetic linkage of double acting motor is made to become smaller, and reduce generator torque, reduce motor torque, reduce hydraulic pressure
System declines resistance, and hydraulic oil is accelerated to flow into 5 rod chamber of elevating ram by the hydraulic control one-way valve on 4 the right of bidirectional hydraulic locking-valve,
The hydraulic control one-way valve reverse opening on 4 left side of hydraulic control bidirectional hydraulic locking-valve simultaneously, 5 rodless cavity hydraulic oil of elevating ram passes through double
Double acting motor 2 is flowed back to the quickening of the hydraulic control one-way valve on 4 left side of hydraulic pressure locking-valve, and then accelerates pallet fork decrease speed.Work as generator
When charging for super capacitor A2 or accumulator A1, second voltage sensors A 4 detects super capacitor A2 both end voltages, when super electricity
When holding A2 both end voltages less than rated voltage 27V, control device control the second relay A6 conductings, pallet fork declines potential energy and is preferably
Super capacitor A2 chargings；When pallet fork declines or when super capacitor A2 is recycling potential energy charging, when super capacitor A2 both end voltages
When not less than rated voltage, control device control the second relay A6 shutdowns, the first relay A1 conductings, pallet fork decline potential energy and are
Accumulator A1 chargings；At the end of pallet fork descending stroke, control device controls the first relay A5, the second relay A6 shutdowns.
Claims (10)
1. a kind of fork truck energy saving system with speed-regulating function, characterized in that including double acting motor, double acting motor,
Bidirectional hydraulic locking-valve, elevating ram, three-phase bridge type converter, energy supply energy storage device and control device；Double acting motor and double cropping
It is connected with motor, the oil discharge outlet and inlet port of double acting motor are connected with bidirectional hydraulic locking-valve；Bidirectional hydraulic locking-valve respectively with act
The rod chamber of oil-lifting jar is connected with rodless cavity；Control device includes control chip and auxiliary circuit, double acting motor and three-phase bridge
Formula inverter is connected, and three-phase bridge type converter is connected with energy supply energy storage device, and control device is respectively connected to three-phase bridge type inverse
Device and energy supply energy storage device and the working condition for controlling the two.
2. a kind of fork truck energy saving system with speed-regulating function according to claim 1, characterized in that control device
Receive the acquisition signal of current sensor, voltage sensor and speed encoder, output pwm signal controls three-phase bridge type inverse
The turn-on and turn-off condition of metal-oxide-semiconductor in device, the turn-on and turn-off condition of control energy supply energy storage device repeat circuit, current sensor
U, V phase in the three-phase wire of three-phase inverter, voltage sensor are mounted on the output end of super capacitor and accumulator,
Speed encoder is mounted on double acting motor output shaft.
3. a kind of fork truck energy saving system with speed-regulating function according to claim 1, characterized in that control chip
It is ATMEGA328P-PU chips.
4. a kind of fork truck energy saving system with speed-regulating function according to claim 1, characterized in that the system is also
Including liquid-controlled oil supplement valve and seal-off pressure oil tank, seal-off pressure oil tank is connected with liquid-controlled oil supplement valve, and liquid-controlled oil supplement valve is connected in parallel on double
The hydraulic oil of the oil outlet and inlet port of acting motors, seal-off pressure oil tank can be distinguished by two check valves of liquid-controlled oil supplement valve
To the oil outlet and inlet port fuel feeding of double acting motor.
5. a kind of fork truck energy saving system with speed-regulating function according to claim 1, characterized in that the system packet
Safety valve is included, safety valve is made of two overflow valves, and two overflow valves are connected with elevating ram rod chamber and rodless cavity respectively.
6. a kind of fork truck energy saving system with speed-regulating function according to claim 1, characterized in that double cropping electricity consumption
Machine includes motor and generator, exports electric energy when double acting motor rotates forward, is produced electricl energy when motor reversal.
7. a kind of fork truck energy saving system with speed-regulating function according to claim 1, characterized in that double acting horse
Up to including motor and pump, attraction is generated when double acting motor rotates forward, thrust is generated when double acting motor inverts.
8. a kind of fork truck energy saving system with speed-regulating function according to claim 1, characterized in that hydraulic pressure oil stream
When entering bidirectional hydraulic locking-valve left side hydraulic control one-way valve, hydraulic control one-way valve is reversely opened on the right of oil pressure cntrol bidirectional hydraulic locking-valve, into
The hydraulic oil for entering elevating ram rodless cavity pushes elevating ram rod chamber hydraulic oil to pass through hydraulic control one-way valve on the right of two-way locking-valve, stream
Return double acting motor；When hydraulic oil flows into hydraulic control one-way valve on the right of bidirectional hydraulic locking-valve, the oil pressure cntrol bidirectional hydraulic locking-valve left side
Hydraulic control one-way valve is reversely opened, into elevating ram rod chamber hydraulic oil push elevating ram rodless cavity hydraulic oil pass through it is two-way
Locking-valve left side hydraulic control one-way valve, flows back to double acting motor.
9. a kind of fork truck energy saving system with speed-regulating function according to claim 2, characterized in that pallet fork declines
When excessive velocities, the working speed of generator and torque conditions are transmitted to control by current sensor and speed encoder on generator
Device processed, control device compare generator actual speed signal with given rotating speed, adjust metal-oxide-semiconductor switching sequence, reduce double cropping
With motor-generator speed, increase double acting electric motor-generator torque, increase double-acting pump-motor torque, increases hydraulic pressure system
System declines resistance, and hydraulic oil is slowed down by the hydraulic control one-way valve on the right of bidirectional hydraulic locking-valve flows into elevating ram rod chamber, simultaneously
The hydraulic control one-way valve reverse opening on the hydraulic control bidirectional hydraulic locking-valve left side, elevating ram rodless cavity hydraulic oil pass through bidirectional hydraulic
The hydraulic control one-way valve on the locking-valve left side, which slows down, flows back to double-acting pump-motor, and then slows down pallet fork decrease speed.
10. a kind of fork truck energy saving system with speed-regulating function according to claim 2, it is characterized in that pallet fork declines
When speed is excessively slow, generator operation rotating speed, torque conditions are transmitted to control by current sensor and speed encoder on generator
Device, control device compare generator actual speed signal with given rotating speed, adjust metal-oxide-semiconductor switching sequence, increase double acting
Electric motor-generator rotating speed reduces double acting electric motor-generator torque, reduces double-acting pump-motor torque, reduces hydraulic system
Decline resistance, hydraulic oil is accelerated to flow into elevating ram rod chamber, while liquid by the hydraulic control one-way valve on the right of bidirectional hydraulic locking-valve
The hydraulic control one-way valve reverse opening on the voltage-controlled bidirectional hydraulic locking-valve processed left side, elevating ram rodless cavity hydraulic oil pass through bidirectional hydraulic lock
Double-acting pump-motor is flowed back in the hydraulic control one-way valve quickening on the valve left side, and then accelerates pallet fork decrease speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711437196.0A CN108298474A (en) | 2017-12-26 | 2017-12-26 | A kind of fork truck energy saving system with speed-regulating function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711437196.0A CN108298474A (en) | 2017-12-26 | 2017-12-26 | A kind of fork truck energy saving system with speed-regulating function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108298474A true CN108298474A (en) | 2018-07-20 |
Family
ID=62867472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711437196.0A Pending CN108298474A (en) | 2017-12-26 | 2017-12-26 | A kind of fork truck energy saving system with speed-regulating function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108298474A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109236766A (en) * | 2018-10-10 | 2019-01-18 | 湖北先行专用汽车有限公司 | A kind of side fork lifts formula and removes obstacles vehicle hydraulic system |
| CN110065912A (en) * | 2019-05-22 | 2019-07-30 | 徐州徐工特种工程机械有限公司 | The linkage interlocked control system of electri forklift |
| CN111977565A (en) * | 2020-06-29 | 2020-11-24 | 浙江大学 | Control method for preventing goods from toppling over goods shelf during Forklift AVG sudden stop and locking |
| CN113845032A (en) * | 2021-11-30 | 2021-12-28 | 杭叉集团股份有限公司 | Energy-saving hydraulic system for telescopic arm of electric front crane |
| CN113942963A (en) * | 2021-09-26 | 2022-01-18 | 浙江大学 | Load-sensitive forklift load port independent control system and method |
| US20220258554A1 (en) * | 2021-02-17 | 2022-08-18 | Francis Walls | Kinetic Energy Shock Absorber |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101334055A (en) * | 2008-07-31 | 2008-12-31 | 哈尔滨工业大学 | Unpowered oil supplied direct drive displacement control electrohydraulic servo- closed type oil source system |
| JP2009292553A (en) * | 2008-06-03 | 2009-12-17 | Toyota Industries Corp | Cargo handling regenerative device of fork lift, and fork lift |
| CN101956405A (en) * | 2010-07-15 | 2011-01-26 | 吉林大学 | Gravitational potential energy recovery device during descending of engineering machinery movable arm |
| CN102449323A (en) * | 2009-05-29 | 2012-05-09 | 沃尔沃建筑设备公司 | A hydraulic system and a working machine comprising such a hydraulic system |
| CN205241117U (en) * | 2015-12-28 | 2016-05-18 | 中科院成都信息技术股份有限公司 | Tower machine rotation mechanism variable frequency speed control system |
| CN205575513U (en) * | 2016-05-05 | 2016-09-14 | 安徽合力股份有限公司 | Electric fork -lift potential energy recovery system |
| CN208279268U (en) * | 2017-12-26 | 2018-12-25 | 浙江大学 | A kind of fork truck energy saving system with speed-regulating function |
-
2017
- 2017-12-26 CN CN201711437196.0A patent/CN108298474A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009292553A (en) * | 2008-06-03 | 2009-12-17 | Toyota Industries Corp | Cargo handling regenerative device of fork lift, and fork lift |
| CN101334055A (en) * | 2008-07-31 | 2008-12-31 | 哈尔滨工业大学 | Unpowered oil supplied direct drive displacement control electrohydraulic servo- closed type oil source system |
| CN102449323A (en) * | 2009-05-29 | 2012-05-09 | 沃尔沃建筑设备公司 | A hydraulic system and a working machine comprising such a hydraulic system |
| CN101956405A (en) * | 2010-07-15 | 2011-01-26 | 吉林大学 | Gravitational potential energy recovery device during descending of engineering machinery movable arm |
| CN205241117U (en) * | 2015-12-28 | 2016-05-18 | 中科院成都信息技术股份有限公司 | Tower machine rotation mechanism variable frequency speed control system |
| CN205575513U (en) * | 2016-05-05 | 2016-09-14 | 安徽合力股份有限公司 | Electric fork -lift potential energy recovery system |
| CN208279268U (en) * | 2017-12-26 | 2018-12-25 | 浙江大学 | A kind of fork truck energy saving system with speed-regulating function |
Non-Patent Citations (1)
| Title |
|---|
| 杨华勇, 欧阳小平, 徐兵: "《机械工程学报》", 31 May 2003, pages: 1 - 5 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109236766A (en) * | 2018-10-10 | 2019-01-18 | 湖北先行专用汽车有限公司 | A kind of side fork lifts formula and removes obstacles vehicle hydraulic system |
| CN109236766B (en) * | 2018-10-10 | 2024-03-26 | 湖北先行专用汽车有限公司 | Hydraulic system of lateral fork lift type wrecker |
| CN110065912A (en) * | 2019-05-22 | 2019-07-30 | 徐州徐工特种工程机械有限公司 | The linkage interlocked control system of electri forklift |
| CN110065912B (en) * | 2019-05-22 | 2024-05-28 | 徐州徐工特种工程机械有限公司 | Linkage interlocking control system of electric forklift |
| CN111977565A (en) * | 2020-06-29 | 2020-11-24 | 浙江大学 | Control method for preventing goods from toppling over goods shelf during Forklift AVG sudden stop and locking |
| US20220258554A1 (en) * | 2021-02-17 | 2022-08-18 | Francis Walls | Kinetic Energy Shock Absorber |
| US12011960B2 (en) * | 2021-02-17 | 2024-06-18 | Francis Walls | Kinetic energy shock absorber |
| CN113942963A (en) * | 2021-09-26 | 2022-01-18 | 浙江大学 | Load-sensitive forklift load port independent control system and method |
| CN113845032A (en) * | 2021-11-30 | 2021-12-28 | 杭叉集团股份有限公司 | Energy-saving hydraulic system for telescopic arm of electric front crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108298474A (en) | A kind of fork truck energy saving system with speed-regulating function | |
| CN208279268U (en) | A kind of fork truck energy saving system with speed-regulating function | |
| CN100386254C (en) | Electric fork track lifting control system possessing energy recovery device | |
| CN102420552A (en) | Control loop and control method for improving starting and stopping performance of motor | |
| CN103697023A (en) | Electro-hydraulic energy recovery and release system for slewing brake of engineering machinery | |
| CN107235440A (en) | A kind of liquid electricity mixing energy conserving system for lifting mechanism | |
| CN104627910B (en) | Intelligent load sensing hydraulic system of electric forklift | |
| CN113404748A (en) | Efficient potential energy recovery system and control method thereof | |
| CN212455012U (en) | Hydraulic lifting device, lifter and lift truck | |
| CN107482840B (en) | Action potential storage and transportation circuit and motor compound drive system and its control method | |
| CN101580207A (en) | Hydraulic energy saving system for harbour crane | |
| CN103183296B (en) | Pump motor cataclinal power generation control system | |
| CN202297041U (en) | Hydraulic pump control system for electric forklift | |
| CN201298820Y (en) | Motor control system for pumping unit in oil field | |
| CN109336005B (en) | External energy-saving device for electric forklift and energy-saving control method | |
| CN203851071U (en) | Energy-saving control equipment system for dragging motor of oil pumping unit | |
| CN107906063B (en) | Lifting operation equipment and power system thereof | |
| CN203655796U (en) | Electro-hydraulic system for recovering and releasing energy during slewing braking of engineering machine | |
| CN203368220U (en) | Oil pumping machine torque motor and motor generator | |
| CN107032265B (en) | A kind of direct electric drive pump control energy conserving system for double mast forklift trucks | |
| CN102602852B (en) | Hydraulic hybrid stacking machine | |
| CN202545431U (en) | Energy recycling-type hoisting hydraulic system for hoisting and conveying machinery | |
| CN205275145U (en) | Electric fork -lift fork plays to rise controller based on FPGA | |
| CN201270490Y (en) | Energy saving control apparatus for oil pumping machine large power DC brushless motor | |
| CN207715448U (en) | Lift work equipment and its dynamical system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |