CN108591144B - Hydraulic system of motor-driven double-dosing pump double-accumulator distributed direct-drive excavator - Google Patents
Hydraulic system of motor-driven double-dosing pump double-accumulator distributed direct-drive excavator Download PDFInfo
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- CN108591144B CN108591144B CN201810709211.0A CN201810709211A CN108591144B CN 108591144 B CN108591144 B CN 108591144B CN 201810709211 A CN201810709211 A CN 201810709211A CN 108591144 B CN108591144 B CN 108591144B
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
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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
- 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
-
- 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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
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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
- F15B21/02—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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Abstract
The invention provides a motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system, which is characterized in that a signal is input to a driver through a controller, and the rotation speed and the direction of a driving motor in each hydraulic module are controlled through the driver to control a hydraulic cylinder, so that the throttle loss and overflow loss of the system are avoided, the system efficiency is high, a main loop is shorter and no throttle element exists, therefore, the pressure loss is less, the heating value is less, and a cooling device is not needed; simultaneously adopting two energy accumulators, wherein the second energy accumulator is used for replacing an oil tank; the first energy accumulator is used for balancing the flow of the first chamber and the second chamber when the displacement ratio of the two quantitative pumps is inconsistent with the effective area ratio of the two chambers of the hydraulic cylinder, and solves the problem that the displacement ratio of the two quantitative pumps cannot be accurately matched with the effective area ratio of the two chambers of the hydraulic cylinder.
Description
Technical Field
The invention relates to the field of excavators, in particular to a hydraulic system of an excavator.
Background
Hydraulic excavators are the most commonly used machines among engineering machines, and have the disadvantages of high fuel consumption, poor emission and low energy utilization rate. Under the situation that the energy shortage and the environmental pollution are becoming serious, how to realize the energy conservation and the emission reduction of the excavator is becoming more and more important and becoming a hot spot of current research.
Current excavators still employ engine-variable pump-multiple valve-actuator drive systems. Due to the energy-saving and environment-friendly requirements, part of researches adopt a common motor to replace an engine, but the system efficiency still needs to be improved. With the successive developments of ac servomotors, servo motor-proportional hydraulic pump/motor-hydraulic valve-actuators have been used in engineering applications, such as injection molding machines. These hydraulic system energy saving methods play an important role in improving efficiency.
The invention patent CN201110453095 'an all-electric servo excavator' (publication date is 2013-07-03), adopts an electro-mechanical transmission and servo system combining an alternating current servo motor and a ball screw, and has the advantages of direct conversion of electric energy into mechanical energy, simple system, less energy consumption and small occupied space. However, under the working conditions of low speed, large torque and large output, the electro-mechanical transmission and servo system can complete the transmission task only by adding a speed reducer, so that the system is complicated, and sometimes the requirement cannot be met even if the speed reducer is added.
The invention patent CN201610406357 relates to a full-electric driven hydraulic excavator power system (2016-10-12 in publication date), which controls the rotating speed and rotating speed direction of each servo motor, thereby controlling the output flow of a bidirectional constant delivery pump connected with the servo motor, and finally completing the speed control of each hydraulic actuator. (1) The system adopts a servo motor to drive a bidirectional constant delivery pump to control the symmetrical hydraulic cylinder, and the effective area of the piston side of the hydraulic cylinder is reduced, so that the output force is greatly reduced when the piston stretches out. (2) When the system pressure is higher, the torque required for driving the constant displacement pump is larger, and the requirements on the motor performance are high, for example, the torque and the power range are wide. (3) The system cannot recover the energy of negative load feedback.
Disclosure of Invention
The invention aims to solve the technical problem of providing a motor-driven double-constant-displacement-pump double-accumulator distributed direct-drive excavator hydraulic system, which avoids throttling loss and overflow loss of the system, has high system efficiency and realizes energy conservation, emission reduction and noise reduction.
The invention is realized in the following way: the motor-driven double-constant displacement pump double-accumulator distributed direct-drive excavator hydraulic system comprises a controller and at least one hydraulic module; each hydraulic module comprises a hydraulic cylinder, a first bidirectional constant displacement pump, a second bidirectional constant displacement pump, a first energy accumulator, a second energy accumulator, a three-position three-way control valve, a driver and a driving motor;
the hydraulic cylinder comprises a cylinder body, a piston and a piston rod, one end of the piston rod is fixedly connected with the piston, the piston is hermetically and slidably connected in the cylinder body, and the piston divides the cylinder body into a first chamber and a second chamber;
the three-position three-way control valve comprises a first oil receiving port, a first hydraulic control oil port, a second oil receiving port, a second hydraulic control oil port and a third oil receiving port;
the first bidirectional constant displacement pump comprises a first oil drain port, a first port and a second port;
the second bidirectional constant displacement pump comprises a second oil drain port, a third port and a fourth port;
the second port and the fourth port are connected in parallel and then connected to the second energy accumulator; the first port, the first oil receiving port and the first hydraulic control oil port are connected in parallel and then communicated with the first chamber; the third port, the second oil receiving port and the second hydraulic control oil port are connected in parallel and then communicated with the second chamber; the third oil receiving port is connected with the first energy accumulator; the first oil drain port is connected between the second port and the fourth port, the second oil drain port is connected between the fourth port and the second energy accumulator,
the first bidirectional constant displacement pump and the second bidirectional constant displacement pump are respectively connected with the driving motor to realize synchronous movement; the driver is communicatively coupled to the controller.
Further, the power supply device is further included, and the driver and the controller are respectively and electrically connected to the power supply device.
Further, each hydraulic module further comprises a first control valve and a second control valve, wherein the first port, the first oil receiving port and the first hydraulic control oil port are connected in parallel and then sequentially connected with the first control valve and the first chamber; the third port, the second oil receiving port and the second hydraulic control oil port are connected in parallel and then sequentially connected with the second control valve and the second chamber; the first control valve and the second control valve are also respectively connected with the controller in a communication way.
Further, the first control valve and the second control valve are two-position two-way electromagnetic valves respectively.
Further, the first control valve and the second control valve are two-position two-way cartridge valves respectively.
Further, each hydraulic module further comprises a first one-way valve, a second one-way valve, a first safety valve and a second safety valve;
the inlet of the first one-way valve and the outlet of the first safety valve are connected in parallel and then connected in parallel with the second port, and the outlet of the first one-way valve and the inlet of the first safety valve are connected in parallel and then connected between the first control valve and the first chamber;
the inlet of the second one-way valve and the outlet of the second safety valve are connected in parallel and then connected to the second accumulator, and the outlet of the second one-way valve and the inlet of the second safety valve are connected in parallel and then connected between the second control valve and the second chamber.
Further, the three-position three-way control valve is a three-position three-way hydraulic control valve.
Further, the three-position three-way control valve is a three-position three-way cartridge valve.
Further, the driving motor is a servo motor, and the driver is a servo driver.
Further, the number of the hydraulic modules is three.
The invention has the following advantages: the invention inputs signals to the driver through the controller, and controls the rotating speed and the direction of the driving motor in each hydraulic module through the driver to realize the control of the hydraulic cylinder, thereby avoiding the throttling loss and the overflow loss of the system, having high system efficiency, short main loop and no throttling element, thus having less pressure loss and less heating value, and not needing a cooling device to adopt two accumulators at the same time, wherein the second accumulator is used for replacing an oil tank; the first energy accumulator is used for balancing the flow of the first chamber and the second chamber when the displacement ratio of the first bidirectional quantitative pump and the second bidirectional quantitative pump is inconsistent with the effective area ratio of the first chamber and the second chamber, and the problem that the displacement ratio of the first bidirectional quantitative pump and the second bidirectional quantitative pump cannot be accurately matched with the effective area ratio of the first chamber and the second chamber is solved.
Drawings
The invention will be further described with reference to examples of embodiments with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an embodiment of a hydraulic system according to the present invention.
FIG. 2 is a schematic diagram of the operation of the hydraulic module according to the present invention with oil during a working condition.
FIG. 3 is a schematic diagram of the hydraulic module according to the present invention operating with oil in condition two.
FIG. 4 is a schematic diagram of the hydraulic module according to the present invention operating with oil under three conditions.
FIG. 5 is a schematic diagram of the hydraulic module of the present invention operating with oil at four operating conditions.
FIG. 6 is a schematic diagram of the hydraulic module of the present invention operating with oil at a fifth operating condition.
FIG. 7 is a schematic diagram of the hydraulic module of the present invention operating with oil at six operating conditions.
FIG. 8 is a schematic diagram of the operation of the hydraulic module of the present invention with oil under seven operating conditions.
FIG. 9 is a schematic diagram of the hydraulic module of the present invention operating with oil under condition eight.
Fig. 10 is a schematic view of the effect of the present invention.
In the figure: 100. a controller; 200. a hydraulic module; 201. a hydraulic cylinder; 2011. a cylinder; 2012. a piston; 2013. a piston rod; 202. a first bi-directional dosing pump; 2021. a first port; 2022. a second port; 2023. a first oil drain port; 203. a second bidirectional fixed displacement pump; 2031. a third port; 2032. a fourth port; 2033. a second oil drain port; 204. a first accumulator; 205. a second accumulator; 206. a three-position three-way control valve; 2061. a first oil receiving port; 2062. the first hydraulic control oil port; 2063. a second oil receiving port; 2064. the second hydraulic control oil port; 2065. a third oil receiving port; 207. a driver; 208. a driving motor; 209. a first control valve; 210. a second control valve; 211. a first one-way valve; 212. a second one-way valve; 213. a first safety valve; 214. a second safety valve; 300. a movable arm; 400. a bucket rod; 500. a bucket; 600. a power supply device; 700. a first chamber; 800. a second chamber.
Detailed Description
Referring to fig. 1 to 10, the present invention provides a hydraulic system of a motor-driven dual-dosing pump dual-accumulator distributed direct-drive excavator, which comprises a controller 100 and at least one hydraulic module 200; each hydraulic module 200 comprises a hydraulic cylinder 201, a first bidirectional constant displacement pump 202, a second bidirectional constant displacement pump 203, a first accumulator 204, a second accumulator 205, a three-position three-way control valve 206, a driver 207 and a driving motor 208;
the hydraulic cylinder 201 includes a cylinder 2011, a piston 2012, and a piston rod 2013, one end of the piston rod 2013 is fixedly connected to the piston 2012, the piston 2012 is hermetically and slidably connected to the cylinder 2011, and the piston 2012 divides the cylinder 2011 into a first chamber 700 and a second chamber 800;
the three-position three-way control valve 206 includes a first oil receiving port 2061, a first hydraulic control port 2062, a second oil receiving port 2063, a second hydraulic control port 2064, and a third oil receiving port 2065;
the first bidirectional metering pump 202 includes a first oil drain port 2023, a first port 2021, and a second port 2022;
the second bidirectional metering pump 203 includes a second oil drain port 2033, a third port 2031, and a fourth port 2032;
the second port 2022 and the fourth port 2032 are connected in parallel and then connected to the second accumulator 205; the first port 2021, the first oil receiving port 2061, and the first hydraulic control port 2062 are connected in parallel and then communicate with the first chamber 700; the third port 2031, the second oil receiving port 2063, and the second hydraulic control port 2064 are connected in parallel and then communicated with the second chamber 800; the third oil port 2065 is connected to the first accumulator 204; the first oil drain port 2023 is connected between the second port 2022 and the fourth port 2032, and the second oil drain port 2033 is connected between the fourth port 2032 and the second energy accumulator 205, so that the case rupture caused by the excessively high pressure of the first bidirectional metering pump 202 or the second bidirectional metering pump 203 can be prevented, and the safety is ensured;
the first bidirectional constant displacement pump 202 and the second bidirectional constant displacement pump 203 are respectively connected to the driving motor 208 to realize synchronous motion; the driver 207 is communicatively coupled to the controller 100.
In an implementation, the hydraulic cylinder 201 is an asymmetric hydraulic cylinder 201, and the piston rod 2013 is connected to an application load. The present invention inputs a signal to the driver 207 through the controller 100, and then controls the rotation speed and direction of the driving motor 208 in each hydraulic module 200 through the driver 207, so as to control the flow and direction of the first bidirectional fixed displacement pump 202 and the second bidirectional fixed displacement pump 203, thereby finally realizing the control of the hydraulic cylinder 201.
The first bidirectional constant displacement pump 202 and the second bidirectional constant displacement pump 203 are respectively and directly connected with the driving motor 208 to independently drive the hydraulic cylinder 201, so that the basic matching of the flow rates of the first chamber 700 and the second chamber 800 is realized, the throttling loss and the overflow loss are avoided, and the system efficiency is high.
The distributed intelligent control of the transmission power of the hydraulic pipeline is replaced by the lead, so that the main circuit is short and has no throttling element, and therefore, the pressure loss is low, the heating value is low, and a cooling device is not needed.
Compared with the traditional hydraulic system, the closed system has less oil consumption and small volume of the first energy accumulator 204 and the second energy accumulator 205, and each hydraulic module 200 can be made into a hydraulic package.
The driving motor 208 is adopted to replace an engine-driven variable pump in the traditional technology, so that the system efficiency is greatly improved, and energy conservation, emission reduction and noise reduction are realized. After the traditional system is started and works, the actuating mechanism is not stopped even if not working, and the motor and the oil pump operate normally, so that the energy consumption is high. When the hydraulic cylinder 201 needs to work, the driving motor 208 runs, and when the hydraulic cylinder 201 does not work, the driving motor 208 stops running, so that the driving according to the requirement is realized, and the electric energy is saved.
The present invention employs two accumulators, wherein the second accumulator 205 is used to replace an oil tank, and since the hydraulic cylinder 201 is an asymmetric hydraulic cylinder 201, the first chamber 700 and the second chamber 800 have an effective area difference, and the second accumulator 205 also functions to balance the flow rate; and the first accumulator 204 is configured to balance the flow rates of the first chamber 700 and the second chamber 800 when the displacement ratio of the first bi-directional fixed displacement pump 202 and the second bi-directional fixed displacement pump 203 is inconsistent with the effective area ratio of the first chamber 700 and the second chamber 800, so as to solve the problem that the displacement ratio of the first bi-directional fixed displacement pump 202 and the second bi-directional fixed displacement pump 203 cannot be exactly matched with the effective area ratio of the first chamber 700 and the second chamber 800.
In an implementation, the first bidirectional constant displacement pump 202 and the second bidirectional constant displacement pump 203 may be used as a pump and a motor, respectively, and the invention also provides conditions for recycling potential energy fed back by the load.
In a preferred embodiment, the method comprises: the power supply device 600 is further included, the driver 207 and the controller 100 are respectively and electrically connected to the power supply device 600, and in the case of a negative load, the first bidirectional constant displacement pump 202 and the second bidirectional constant displacement pump 203 are used as motors, so that potential energy fed back by the load at this time can be converted into electric energy to be stored in the power supply device 600, and the energy in the case of the negative load can be recycled, thereby saving electric energy.
Each hydraulic module 200 further includes a first control valve 209 and a second control valve 210, where the first port 2021, the first oil receiving port 2061, and the first hydraulic control port 2062 are connected in parallel and then sequentially connected to the first control valve 209 and the first chamber 700; the third port 2031, the second oil receiving port 2063, and the second hydraulic control port 2064 are connected in parallel and then connected to the second control valve 210 and the second chamber 800 in sequence; the first control valve 209 and the second control valve 210 are also respectively connected to the controller 100 in a communication manner, and the controller 100 controls the first control valve 209 and the second control valve 210 to be opened or closed. The hydraulic cylinder 201 is locked by the first control valve 209 and the second control valve 210, and slippage due to leakage of the first bidirectional fixed displacement pump 202 or the second bidirectional fixed displacement pump 203 is avoided.
The first control valve 209 and the second control valve 210 are two-position two-way electromagnetic valves respectively. When the flow is small, a two-position two-way electromagnetic valve is adopted, and the valve is mainly used in a miniature excavator in practical application.
The first control valve 209 and the second control valve 210 are two-position two-way cartridge valves respectively. When the flow is large, a two-position two-way cartridge valve is adopted, and the two-position two-way cartridge valve is mainly used in small, medium and large excavators in practical application.
Each of the hydraulic modules 200 further includes a first check valve 211, a second check valve 212, a first relief valve 213, and a second relief valve 214;
the inlet of the first check valve 211 and the outlet of the first safety valve 213 are connected in parallel to the second port 2022, and the outlet of the first check valve 211 and the inlet of the first safety valve 213 are connected in parallel to be connected between the first control valve 209 and the first chamber 700;
the inlet of the second check valve 212 and the outlet of the second relief valve 214 are connected in parallel and then connected to the second accumulator 205, and the outlet of the second check valve 212 and the inlet of the second relief valve 214 are connected in parallel and then connected between the second control valve 210 and the second chamber 800. Through the combination of the first check valve 211 and the first safety valve 213, or the combination of the second check valve 212 and the second safety valve 214, the suction phenomenon is prevented from occurring at low pressure, the pressure is released at high pressure, and the surplus oil is stored in the second accumulator 205, specifically, when the pressure of the first chamber 700 or the second chamber 800 is low, the corresponding first check valve 211 or the second check valve 212 is conducted, and the oil is replenished into the first chamber 700 or the second chamber 800 from the second accumulator 205; when the pressure in the first chamber 700 or the second chamber 800 is too high, the corresponding first safety valve 213 or the second safety valve 214 is turned on to release pressure, and the excessive oil flows into the second accumulator 205, so as to ensure safety.
The three-position three-way control valve 206 is a three-position three-way hydraulic control valve.
The three-position three-way control valve 206 is a three-position three-way cartridge valve.
The driving motor 208 is a servo motor 208, and the driver 207 is a servo driver 207, so that the speed control precision can be very accurate.
The number of hydraulic modules 200 is three. The piston rods 2013 of the three hydraulic modules 200 are respectively connected with the movable arm 300, the bucket rod 400 and the bucket 500 of the excavator in one-to-one correspondence, so that the three hydraulic modules are respectively and independently driven, the control is convenient, meanwhile, pipelines are greatly shortened, the hydraulic modules 200 can be made into a hydraulic package form and are directly arranged near the movable arm 300, the bucket rod 400 and the bucket 500, and the hydraulic package type hydraulic shovel is convenient to install and small in size.
The specific control principle is as follows:
because of the presence of the piston rod 2013, the first and second chambers 700, 800 are of an asymmetric configuration such that the maximum volume of the first chamber 700 is greater than the maximum volume of the second chamber 800, the hydraulic cylinder 201 is an asymmetric hydraulic cylinder 201, and there is an excess of oil when oil is transferred from the first chamber 700 to the second chamber 800, which requires storage of the excess oil in the second accumulator 205, and the oil in the second accumulator 205 is required to be replenished to the first chamber 700 when oil is transferred from the second chamber 800 to the first chamber 700.
On the other hand, F in fig. 2 to 9 is an external force applied to the piston rod 2013 by a load, and v is an operation speed of the piston rod 2013; the direction of the hydraulic pressure is opposite to the direction of the external force F; the piston rod 2013 is connected to the load of the excavator, and the load of the excavator can generate potential energy in the working process; the first bidirectional constant displacement pump 202 and the second bidirectional constant displacement pump 203 can be used as pumps or motors for generating power;
positive load: the hydraulic pressure direction is the same as v direction, the piston rod 2013 extends or retracts, at this time, the power supply device 600 outputs electric energy, the controller 100 controls the driver 207 to drive the servo motor 208 to drive the first bidirectional constant delivery pump 202 and the second bidirectional constant delivery pump 203 to rotate according to the rotation speed and direction set by the controller, and the piston rod 2013 outputs energy to the load;
negative load: the hydraulic pressure direction is opposite to v, the piston rod 2013 is extended or retracted, the load feeds back energy to the piston rod 2013, the first bidirectional constant displacement pump 202 and the second bidirectional constant displacement pump 203 are further used as motors to generate electricity through a hydraulic circuit, and the energy is stored in the power supply device 600 for recycling;
the displacement of the first two-way fixed displacement pump 202 is marked as V p_a The displacement of the second bi-directional fixed displacement pump 203 is marked V p_b The effective area of the first chamber 700 is labeled a 1 The effective area of the second chamber 800 is labeled a 2 The method comprises the steps of carrying out a first treatment on the surface of the When V is p_b /V p_a And A 2 /A 1 When there is no match, there are two cases:
in case one, V p_b /V p_a Greater than A 2 /A 1 The method comprises the steps of carrying out a first treatment on the surface of the At this time, the following four conditions exist:
in the first working condition, referring to fig. 2, when the pressure of the first chamber 700 is greater than the pressure of the second chamber 800 and the oil flows from the second chamber 800 to the first chamber 700, the first hydraulic control oil port 2062 conducts the second oil receiving port 2063 of the three-position three-way control valve 206 and the first accumulator 204, the oil in the first accumulator 204 is supplemented to the oil flowing out of the second chamber 800, the oil in the second accumulator 205 flows out and is supplemented to the first bi-directional fixed displacement pump 202, and the oil is conveyed to the first chamber 700 by the first bi-directional fixed displacement pump 202, so that the flow balance between the first chamber 700 and the second chamber 800 is realized, and meanwhile, the potential energy fed back by the load is converted into electric energy by the first bi-directional fixed displacement pump 202 and the second bi-directional fixed displacement pump 203 and stored in the power supply device 600 for recycling, thereby saving electric energy.
Under the second working condition, referring to fig. 3, when the pressure in the second chamber 800 is greater than the pressure in the first chamber 700, the oil flows from the second chamber 800 to the first chamber 700, the second hydraulic control oil port 2064 conducts the first oil receiving port 2061 of the three-position three-way control valve 206 and the first accumulator 204, the oil in the first accumulator 204 is directly replenished into the first chamber 700, the oil in the second accumulator 205 flows out and is replenished into the first bi-directional fixed displacement pump 202, and the oil is conveyed to the first chamber 700 by the first bi-directional fixed displacement pump 202, so that the flow balance between the first chamber 700 and the second chamber 800 is realized, and the piston rod 2013 outputs energy to the load.
Under the third working condition, as shown in fig. 4, when the load is positive, the pressure of the first chamber 700 is greater than the pressure of the second chamber 800, the oil flows from the first chamber 700 to the second chamber 800, the oil output by the first bidirectional fixed displacement pump 202 flows to the second accumulator 205 and the second bidirectional fixed displacement pump 203, the first hydraulic control oil port 2062 conducts the second oil receiving port 2063 of the three-position three-way control valve 206 and the first accumulator 204, at this time, a part of the flow output by the second bidirectional fixed displacement pump 203 flows into the first accumulator 204, and another part of the oil flows into the second chamber 800, so as to realize flow balance in the first chamber 700 and the second chamber 800, and at this time, the piston rod 2013 outputs energy to the load.
In the fourth working condition, referring to fig. 5, when the pressure of the second chamber 800 is greater than the pressure of the first chamber 700 and the oil flows from the first chamber 700 to the second chamber 800, the second hydraulic control oil port 2064 conducts the first oil receiving port 201 of the three-position three-way control valve 206 and the first accumulator 204, a part of the oil flowing out of the first chamber 700 flows into the first accumulator 204 through the first oil receiving port 2061, and the other part of the oil is conveyed into the second bi-directional constant delivery pump 203 and the second accumulator 205 through the first bi-directional constant delivery pump 202, so that flow balance between the first chamber 700 and the second chamber 800 is realized, and at the moment, the first bi-directional constant delivery pump 202 and the second bi-directional constant delivery pump 203 convert potential energy fed back by the load into electric energy and store the electric energy into the power supply device 600 for recycling, thereby saving electric energy.
In case two, V p_b /V p_a Less than A 2 /A 1 The method comprises the steps of carrying out a first treatment on the surface of the At this time, the following four conditions exist:
under the fifth working condition, as shown in fig. 6, when the pressure of the first chamber 700 is greater than the pressure of the second chamber 800 and the oil flows from the second chamber 800 to the first chamber 700, the first hydraulic control oil port 2062 conducts the second oil receiving port 2063 of the three-position three-way control valve 206 and the first energy accumulator 204, at this time, a part of the oil flowing out of the second chamber 800 flows into the first energy accumulator 204, the other part flows into the second bidirectional constant-delivery pump 203 to be delivered to the first bidirectional constant-delivery pump 202, and the oil in the second energy accumulator 205 flows out to be supplemented to the first bidirectional constant-delivery pump 202, so that the flow balance between the first chamber 700 and the second chamber 800 is realized, and meanwhile, the first bidirectional constant-delivery pump 202 and the second bidirectional constant-delivery pump 203 convert the potential energy fed back by the load into electric energy and store the electric energy into the power supply device 600 for recycling.
Under the sixth working condition, as shown in fig. 7, when the pressure in the second chamber 800 is greater than the pressure in the first chamber 700, the second hydraulic control port 2064 conducts the first oil receiving port 2061 of the three-way control valve 206 and the first accumulator 204, the oil in the second accumulator 205 flows from the second chamber 800 to the first chamber 700, the oil in the second accumulator 205 is supplemented to the first bi-directional fixed displacement pump 202, a part of the oil output by the first bi-directional fixed displacement pump 202 flows into the first chamber 700, and the other part flows into the first accumulator 204 through the first oil receiving port 2061, so as to realize flow balance in the first chamber 700 and the second chamber 800, and the piston rod 2013 outputs energy to the load.
In the seventh working condition, referring to fig. 8, when the pressure in the first chamber 700 is greater than the pressure in the second chamber 800, the first hydraulic control port 2062 conducts the second oil receiving port 2063 of the three-way control valve 206 and the first accumulator 204, and the oil flows from the first chamber 700 to the second chamber 800, a part of the oil output by the first bidirectional fixed displacement pump 202 flows into the second accumulator 205, another part flows into the second bidirectional fixed displacement pump 203 and then flows into the second chamber 800, and the oil in the first accumulator 204 flows into the second chamber 800 through the second oil receiving port 2063, so that the flow balance between the first chamber 700 and the second chamber 800 is realized, and the piston rod 2013 outputs energy to the load.
Under the eighth working condition, as shown in fig. 9, when the pressure of the second chamber 800 is greater than the pressure of the first chamber 700 and the oil flows from the first chamber 700 to the second chamber 800, the second hydraulic control oil port 2064 conducts the first oil receiving port 2061 of the three-position three-way control valve 206 and the first accumulator 204, at this time, the oil flowing out of the first chamber 700 flows into the first bi-directional fixed displacement pump 202, and the oil in the first accumulator 204 flows into the first bi-directional fixed displacement pump 202 from the first oil receiving port 2061, a part of the oil output by the first bi-directional fixed displacement pump 202 flows into the second chamber 800 through the second bi-directional fixed displacement pump 203, and the other part flows into the second accumulator 205, so that the flow balance between the first chamber 700 and the second chamber 800 is realized, and at the same time, the first bi-directional fixed displacement pump 202 and the second bi-directional fixed displacement pump 203 convert the potential energy of the feedback load into electric energy and store the electric energy into the electric energy to be recycled in the power supply 600.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the invention, and that equivalent modifications and variations of the invention in light of the spirit of the invention will be covered by the claims of the present invention.
Claims (8)
1. The utility model provides a motor drive double-dosing pump double-accumulator's distributed direct drive excavator hydraulic system, includes controller, its characterized in that: the hydraulic system also comprises at least one hydraulic module; each hydraulic module comprises a hydraulic cylinder, a first bidirectional constant displacement pump, a second bidirectional constant displacement pump, a first energy accumulator, a second energy accumulator, a three-position three-way control valve, a driver and a driving motor;
the hydraulic cylinder comprises a cylinder body, a piston and a piston rod, one end of the piston rod is fixedly connected with the piston, the piston is hermetically and slidably connected in the cylinder body, and the piston divides the cylinder body into a first chamber and a second chamber;
the three-position three-way control valve comprises a first oil receiving port, a first hydraulic control oil port, a second oil receiving port, a second hydraulic control oil port and a third oil receiving port;
the first bidirectional constant displacement pump comprises a first oil drain port, a first port and a second port;
the second bidirectional constant displacement pump comprises a second oil drain port, a third port and a fourth port;
the second port and the fourth port are connected in parallel and then connected to the second energy accumulator; the first port, the first oil receiving port and the first hydraulic control oil port are connected in parallel and then communicated with the first chamber; the third port, the second oil receiving port and the second hydraulic control oil port are connected in parallel and then communicated with the second chamber; the third oil receiving port is connected with the first energy accumulator; the first oil drain port is connected between the second port and the fourth port, the second oil drain port is connected between the fourth port and the second energy accumulator,
the first bidirectional constant displacement pump and the second bidirectional constant displacement pump are respectively connected with the driving motor to realize synchronous movement; the driver is communicatively connected to the controller;
each hydraulic module further comprises a first control valve and a second control valve, wherein the first port, the first oil receiving port and the first hydraulic control oil port are connected in parallel and then sequentially connected with the first control valve and the first chamber; the third port, the second oil receiving port and the second hydraulic control oil port are connected in parallel and then sequentially connected with the second control valve and the second chamber; the first control valve and the second control valve are also respectively connected with the controller in a communication way;
the driving motor is a servo motor, and the driver is a servo driver.
2. The motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system according to claim 1, wherein: the power supply device is further included, and the driver and the controller are respectively and electrically connected to the power supply device.
3. The motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system according to claim 1, wherein: the first control valve and the second control valve are two-position two-way electromagnetic valves respectively.
4. The motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system according to claim 1, wherein: the first control valve and the second control valve are two-position two-way cartridge valves respectively.
5. The motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system according to claim 1, wherein: each hydraulic module further comprises a first one-way valve, a second one-way valve, a first safety valve and a second safety valve;
the inlet of the first one-way valve and the outlet of the first safety valve are connected in parallel and then connected in parallel with the second port, and the outlet of the first one-way valve and the inlet of the first safety valve are connected in parallel and then connected between the first control valve and the first chamber;
the inlet of the second one-way valve and the outlet of the second safety valve are connected in parallel and then connected to the second accumulator, and the outlet of the second one-way valve and the inlet of the second safety valve are connected in parallel and then connected between the second control valve and the second chamber.
6. The motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system according to claim 1 or 2, wherein: the three-position three-way control valve is a three-position three-way hydraulic control valve.
7. The motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system according to claim 1 or 2, wherein: the three-position three-way control valve is a three-position three-way cartridge valve.
8. The motor-driven double-dosing pump double-accumulator distributed direct-drive excavator hydraulic system according to claim 1 or 2, wherein: the number of the hydraulic modules is three.
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| CN109944836A (en) * | 2019-03-21 | 2019-06-28 | 福建工程学院 | A kind of servo motor drives the distributed direct Driving force system of double constant displacement pumps |
| CN112631133B (en) * | 2020-12-28 | 2022-09-23 | 江苏师范大学 | Hydraulic position servo system control method based on double energy accumulators |
| CN113124005A (en) * | 2021-03-17 | 2021-07-16 | 太原理工大学 | Double-pump separated-cavity regulation control load simulation system |
| CN114233699B (en) * | 2021-11-09 | 2023-12-26 | 杭州宝协机电科技有限公司 | Separable hydraulic cylinder double-acting energy feedback system and method thereof |
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