CN108755794B - Hydraulic excavator based on hydraulic-electric composite drive - Google Patents

Hydraulic excavator based on hydraulic-electric composite drive Download PDF

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Publication number
CN108755794B
CN108755794B CN201810643709.1A CN201810643709A CN108755794B CN 108755794 B CN108755794 B CN 108755794B CN 201810643709 A CN201810643709 A CN 201810643709A CN 108755794 B CN108755794 B CN 108755794B
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China
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hydraulic
cylinder
electric
bucket rod
converter
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CN201810643709.1A
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CN108755794A (en
Inventor
权龙�
王波
刘赫
刘彪
李泽鹏
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Taiyuan University of Technology
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Taiyuan University of Technology
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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36Component parts
    • E02F3/40Dippers; Buckets Grab device, e.g. manufacturing processes for buckets, form, geometry, material of buckets
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36Component parts
    • E02F3/42Drives for dippers, buckets, dipper-arms or bucket-arms
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices

Abstract

The invention discloses a hydraulic excavator based on hydraulic-electric composite drive.A bucket rod driving circuit of the hydraulic excavator comprises at least one electric cylinder, at least one hydraulic-air auxiliary cylinder, at least one frequency converter, a DC/DC converter, a super capacitor bank, a controller, an electromagnetic directional valve, an oil tank, a pressure sensor and a hydraulic accumulator. The bucket rod driving loop adopts an electric cylinder as a main driving cylinder, so that the control precision is high, and the bucket rod driving loop is energy-saving, environment-friendly and pollution-free; and the hydraulic-pneumatic auxiliary cylinder is additionally arranged to balance the dead weight of the bucket rod, efficiently recover the overrunning load potential energy, assist the lifting of the bucket rod and assist the excavation of the bucket rod, so that the hydraulic-pneumatic auxiliary cylinder can be effectively suitable for special four-quadrant working conditions of the bucket rod, and has the advantages of energy conservation, environmental protection, high energy storage utilization rate, multiple functions and high cost performance.

Description

Hydraulic excavator based on hydraulic-electric composite drive
Technical Field
The invention belongs to the field of hydraulic excavators, and particularly relates to a hydraulic excavator based on hydraulic-electric composite drive.
Background
At present, more than 95% of excavators adopt a hydraulic control technology and are characterized by high power density and good operability. However, in actual work, the working range of the engine is greatly changed due to severe working environment, complex working state and severe load change, so that the energy utilization rate of the whole system is only 35%. Particularly, for the bucket rod of the excavator, the working condition is complex, the bucket rod needs to work in four quadrants respectively, the magnitude and the direction of the load force change frequently, large throttling loss exists on the control valve, and the energy loss exceeds 30%; and the accumulated kinetic energy and potential energy are usually converted into heat energy through the throttling of the control valve to be consumed, so that the temperature of the oil is increased, the service life of elements is shortened, and serious energy waste is caused.
In order to improve the energy efficiency of the system, kinetic energy and potential energy recycling and direct flow regeneration methods are commonly adopted at present. Chinese patent application No. CN 101435451a discloses a potential energy recovery method and device for a movable arm of a hydraulic excavator, which uses a hydraulic accumulator to recover potential energy of the movable arm of the excavator, and uses the recovered high-pressure oil to drive a hydraulic motor to rotate, so as to drive a generator coaxially connected with the hydraulic motor to generate electricity, and finally stores the generated electricity in a super capacitor bank or a storage battery for reuse. In the recovery mode, potential energy is converted into electric energy for a plurality of times to be finally utilized, and the energy utilization rate is low. Chinese patent with application number CN 108104183 a discloses a hydraulic excavator bucket rod regenerating unit and hydraulic excavator, with the pole chamber and the no-pole chamber intercommunication of bucket rod pneumatic cylinder, under the effect of surmounting the load, the direct flow direction of fluid in bucket rod pole chamber does not have the pole chamber, realizes the regeneration of hydraulic oil, has reduced the fuel consumption of system. However, in the bucket rod flow regeneration process, the multi-way valve needs to be controlled to adjust the back pressure of the rod cavity, large throttling loss still exists, the mode is narrow in application range and not suitable for four-quadrant working conditions of the bucket rod, the flow of the non-rod cavity of the bucket rod cannot be regenerated, the regenerated flow can only be used for driving the bucket rod to descend, and cannot be used for assisting excavation, and great limitation exists.
Disclosure of Invention
In order to solve the problems, the invention provides a hydraulic excavator based on hydraulic-electric composite drive, wherein a bucket rod driving loop of the hydraulic excavator adopts an electric cylinder as a main driving cylinder, and is additionally provided with a hydraulic-pneumatic auxiliary cylinder for balancing the self weight of a bucket rod, efficiently recovering the exceeding load potential energy, assisting the lifting of the bucket rod and assisting the excavation of the bucket rod, so that the hydraulic excavator is suitable for the four-quadrant working condition of the bucket rod and has the advantages of high energy storage utilization rate, multiple functions, high cost performance, energy conservation and environmental protection.
In order to achieve the purpose, the invention adopts the following technical scheme: the hydraulic excavator based on the hydraulic-electric compound drive comprises a traveling body (1), a revolving body (2), a movable arm (4) which is arranged on the traveling body and connected with the revolving body to rotate in the vertical direction, a movable arm driving circuit (3) used for driving the movable arm to work, an arm (6) arranged at the front end of the movable arm, an arm driving circuit (5) used for driving the arm to work, a bucket (8) arranged at the front end of the arm and a bucket driving circuit (7) used for driving the bucket to work;
the bucket rod driving circuit comprises at least one electric cylinder (9), at least one hydraulic-pneumatic auxiliary cylinder (14), at least one frequency converter (10), a DC/DC converter (11), a super capacitor bank (12), a controller (13), an electromagnetic directional valve (15), an oil tank (16), a pressure sensor (17) and a hydraulic accumulator (18); a power end E of the electric cylinder is connected with a power output stage of a frequency converter through a power line, the frequency converter is connected with a DC/DC converter through a direct current bus, and the DC/DC converter is connected with the super capacitor bank; a rodless cavity of the hydraulic-pneumatic auxiliary cylinder is communicated with a port B of the electromagnetic reversing valve through a hydraulic pipeline, a rod cavity is communicated with a port A of the electromagnetic reversing valve, a port C of the electromagnetic reversing valve is communicated with an oil inlet of the hydraulic energy accumulator and a pressure end of the pressure sensor, and a port D of the electromagnetic reversing valve is communicated with an oil tank; the controller is respectively connected with the frequency converter, the DC/DC converter, the signal end F of the electric cylinder, the signal end of the pressure sensor and the electromagnetic directional valve; the cylinder bodies of the electric cylinder and the hydraulic-pneumatic auxiliary cylinder are hinged to the movable arm, and the piston rods of the electric cylinder and the hydraulic-pneumatic auxiliary cylinder are hinged to the bucket rod.
The electric cylinder is powered by a power grid or a storage battery.
The driving motor of the electric cylinder is one of an alternating current asynchronous motor, a stepping motor, a switched reluctance motor, a direct current motor or a servo motor.
The electric cylinder adopts any one form of a planetary ball screw, a roller screw or a trapezoidal screw for transmission.
The hydraulic-pneumatic auxiliary cylinder is a piston type hydraulic cylinder or a plunger type hydraulic cylinder.
The hydraulic accumulator is a hydraulic accumulator or a hydraulic accumulator group consisting of two or more hydraulic accumulators.
Compared with the prior art, the invention has the following beneficial effects:
1. the electric bucket rod driving device adopts the electric cylinder driven by electric power as the bucket rod main driving cylinder, has the advantages of high response speed, high control precision and high reliability, runs stably and does not discharge pollution;
2. according to the invention, the hydraulic and pneumatic auxiliary cylinder communicated with the hydraulic accumulator is adopted to balance the gravitational potential energy of the bucket rod, so that the installed power of the electric cylinder and the energy consumption during working can be obviously reduced, and the electric bucket is energy-saving and environment-friendly;
3. according to the invention, the electric cylinder and the hydraulic-pneumatic auxiliary cylinder are adopted to efficiently recover the potential energy exceeding the load in the operation of the bucket rod, and the potential energy is directly converted into electric energy and hydraulic energy which are respectively stored in the super capacitor bank and the hydraulic energy accumulator, so that the loss caused by multiple energy conversion is avoided, and the energy storage and utilization rate is high;
4. the working cavity of the hydraulic-pneumatic auxiliary cylinder is controlled by the electromagnetic directional valve, and the rod cavity or the rodless cavity of the hydraulic-pneumatic auxiliary cylinder can be selected to be used as the working cavity to assist the bucket rod to work according to different working conditions, so that the hydraulic-pneumatic auxiliary cylinder is effectively suitable for the special four-quadrant working condition of the bucket rod;
5. the invention has multiple functions, realizes the integrated control of balancing the dead weight of the bucket rod, recovering the exceeding load potential energy, assisting the lifting of the bucket rod and assisting the excavation of the bucket rod based on the same physical quantity by adopting the same device, and has high cost performance.
Drawings
Fig. 1 is an external structural view of a hydraulic excavator according to the present invention;
FIG. 2 is a system schematic of the stick drive circuit of the present invention;
FIG. 3 is a schematic diagram of a system according to embodiment 2 of the present invention;
fig. 4 is a schematic diagram of a system according to embodiment 3 of the present invention.
In the figure: the system comprises a traveling body 1, a rotating body 2, a boom driving circuit 3, a boom 4, an arm driving circuit 5, an arm 6, a bucket driving circuit 7, a bucket 8, an electric cylinder 9, a frequency converter 10, a DC/DC converter 11, a super capacitor bank 12, a controller 13, a hydraulic-pneumatic auxiliary cylinder 14, an electromagnetic reversing valve 15, an oil tank 16, a pressure sensor 17 and a hydraulic accumulator 18.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings.
As shown in fig. 1 and 2, a hydraulic excavator based on a combined hydraulic and electric drive includes a traveling structure 1, a revolving structure 2 attached to the traveling structure 1, a boom 4 connected to the revolving structure 2 to be vertically rotated, a boom drive circuit 3 for driving the boom 4 to operate, an arm 6 attached to a tip of the boom 4, an arm drive circuit 5 for driving the arm 6 to operate, a bucket 8 attached to a tip of the arm 6, and a bucket drive circuit 7 for driving the bucket 8 to operate; the arm driving circuit 5 comprises at least one electric cylinder 9, at least one hydraulic-pneumatic auxiliary cylinder 14, at least one frequency converter 10, a DC/DC converter 11, a super capacitor bank 12, a controller 13, an electromagnetic directional valve 15, an oil tank 16, a pressure sensor 17 and a hydraulic accumulator 18; a power end E of the electric cylinder 9 is connected with a power output stage of the frequency converter 10 through a power line, the frequency converter 10 is connected with the DC/DC converter 11 through a direct current bus, and the DC/DC converter 11 is connected with the super capacitor bank 12; a rodless cavity of the hydraulic-pneumatic auxiliary cylinder 14 is communicated with a port B of the electromagnetic directional valve 15 through a hydraulic pipeline, a rod cavity is communicated with a port A of the electromagnetic directional valve 15, a port C of the electromagnetic directional valve 15 is communicated with an oil inlet of the hydraulic accumulator 18 and a pressure end of the pressure sensor 17, and a port D of the electromagnetic directional valve 15 is communicated with the oil tank 16; the controller 13 is respectively connected with the frequency converter 10, the DC/DC converter 11, the signal end F of the electric cylinder 9, the signal end of the pressure sensor 17 and the electromagnetic directional valve 15; the cylinder bodies of the electric cylinder 9 and the hydraulic-pneumatic auxiliary cylinder 14 are hinged on the movable arm 4, and the piston rods of the electric cylinder 9 and the hydraulic-pneumatic auxiliary cylinder 14 are hinged on the bucket rod 6.
The electric cylinder 9 is powered by a power grid or a storage battery.
The driving motor of the electric cylinder 9 is one of an alternating current asynchronous motor, a stepping motor, a switched reluctance motor, a direct current motor or a servo motor.
The electric cylinder 9 adopts any one form of a planetary ball screw, a roller screw or a trapezoidal screw for transmission.
The hydraulic and pneumatic auxiliary cylinder 14 is a piston type hydraulic cylinder or a plunger type hydraulic cylinder.
The hydraulic accumulator 18 is a single hydraulic accumulator, or a hydraulic accumulator group consisting of two or more hydraulic accumulators.
Example 1
As shown in fig. 2, the arm driving circuit 5 of the hydraulic excavator based on the hydraulic-electric compound drive of the embodiment includes a hydraulic-pneumatic auxiliary cylinder 14 and two electric cylinders 9; the hydraulic-pneumatic auxiliary cylinder 14 is arranged in the middle, and the two electric cylinders 9 are symmetrically arranged on two sides of the hydraulic-pneumatic auxiliary cylinder 14. The cylinder body end of the hydraulic and pneumatic auxiliary cylinder 14 and the cylinder body ends of the two electric cylinders 9 are coaxially hinged on the movable arm 4, and the piston rod end of the hydraulic and pneumatic auxiliary cylinder 14 and the piston rod ends of the two electric cylinders 9 are coaxially hinged on the bucket rod 6. A rodless cavity of the hydraulic and pneumatic auxiliary cylinder 14 is communicated with a port B of the electromagnetic reversing valve 15 through a hydraulic pipeline, a rod cavity is communicated with a port A of the electromagnetic reversing valve 15, a port C of the electromagnetic reversing valve 15 is communicated with an oil inlet of the hydraulic accumulator 18 and a pressure end of the pressure sensor 17, and a port D of the electromagnetic reversing valve 15 is communicated with the oil tank 16. The power ends E of the two electric cylinders 9 are respectively connected with the power output stages of the two frequency converters 10 through power lines, the two frequency converters 10 are connected with the DC/DC converter 11 through a direct current bus, and the DC/DC converter 11 is connected with the super capacitor bank 12. The controller 13 is respectively connected with the signal ends F of the two electric cylinders 9, the two frequency converters 10, the DC/DC converter 11, the signal end of the pressure sensor 17 and the electromagnetic directional valve 15.
Example 2
As shown in fig. 3, the arm drive circuit 5 in the present embodiment includes two hydraulic-pneumatic auxiliary cylinders 14 and one electric cylinder 9; the electric cylinder 9 is arranged in the middle, the two hydraulic and pneumatic auxiliary cylinders 14 are symmetrically arranged on two sides of the electric cylinder 9, the cylinder body ends of the two hydraulic and pneumatic auxiliary cylinders 14 and the electric cylinder 9 are coaxially hinged on the movable arm 4, and the piston rod ends of the two hydraulic and pneumatic auxiliary cylinders 14 and the electric cylinder 9 are coaxially hinged on the bucket rod 6. The rodless cavities of the two hydraulic and pneumatic auxiliary cylinders 14 are communicated with a port B of the electromagnetic directional valve 15 through a hydraulic pipeline, the rod cavities are communicated with a port A of the electromagnetic directional valve 15, a port C of the electromagnetic directional valve 15 is communicated with an oil inlet of the hydraulic energy accumulator 18 and a pressure end of the pressure sensor 17, and a port D of the electromagnetic directional valve 15 is communicated with the oil tank 16. The power end E of the electric cylinder 9 is connected with the power output stage of the frequency converter 10 through a power line, the frequency converter 10 is connected with the DC/DC converter 11 through a direct current bus, and the DC/DC converter 11 is connected with the super capacitor bank 12. The controller 13 is connected to the signal terminal F of the electric cylinder 9, the frequency converter 10, the DC/DC converter 11, the signal terminal of the pressure sensor 12, and the electromagnetic directional valve 15, respectively.
Example 3
As shown in fig. 4, the arm drive circuit 5 in the present embodiment includes: a hydraulic-pneumatic auxiliary cylinder 14 and an electric cylinder 9; the electric cylinder 9 and the hydraulic-pneumatic auxiliary cylinder 14 are arranged in a front-rear mode, the electric cylinder 9 is arranged in the front, and the hydraulic-pneumatic auxiliary cylinder 14 is arranged in the rear. The cylinder body end of the electric cylinder 9 and the cylinder body end of the hydraulic and pneumatic auxiliary cylinder 14 are hinged to the movable arm 4 in a front-back mode, and the piston rod end of the electric cylinder 9 and the piston rod end of the hydraulic and pneumatic auxiliary cylinder 14 are hinged to the bucket rod 6 in a front-back mode. A rodless cavity of the hydraulic and pneumatic auxiliary cylinder 14 is communicated with a port B of the electromagnetic reversing valve 15 through a hydraulic pipeline, a rod cavity is communicated with a port A of the electromagnetic reversing valve 15, a port C of the electromagnetic reversing valve 15 is communicated with an oil inlet of the hydraulic accumulator 18 and a pressure end of the pressure sensor 17, and a port D of the electromagnetic reversing valve 15 is communicated with the oil tank 16. The power end E of the electric cylinder 9 is connected with the power output stage of the frequency converter 10 through a power line, the frequency converter 10 is connected with the DC/DC converter 11 through a direct current bus, and the DC/DC converter 11 is connected with the super capacitor bank 12. The controller 13 is connected to the signal terminal F of the electric cylinder 9, the frequency converter 10, the DC/DC converter 11, the signal terminal of the pressure sensor 17, and the electromagnetic directional valve 15, respectively.
The foregoing description illustrates only a few embodiments of the present invention, which are described in detail and specific, but not intended to limit the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.

Claims (6)

1. Hydraulic excavator based on hydraulic-electric compound drive, including traveling body (1), revolving body (2), the revolving body is installed on traveling body, with this revolving body be connected will carry out upper and lower direction pivoted movable arm (4), movable arm drive circuit (3) for driving movable arm work, arm (6) of installing at the movable arm front end, arm drive circuit (5) for driving arm work, install bucket (8) at the arm front end and be used for driving bucket drive circuit (7) of bucket work, its characterized in that:
the bucket rod driving circuit comprises at least one electric cylinder (9), at least one hydraulic-pneumatic auxiliary cylinder (14), at least one frequency converter (10), a DC/DC converter (11), a super capacitor bank (12), a controller (13), an electromagnetic directional valve (15), an oil tank (16), a pressure sensor (17) and a hydraulic accumulator (18); a power end E of the electric cylinder is connected with a power output stage of a frequency converter through a power line, the frequency converter is connected with a DC/DC converter through a direct current bus, and the DC/DC converter is connected with the super capacitor bank; a rodless cavity of the hydraulic-pneumatic auxiliary cylinder is communicated with a port B of the electromagnetic reversing valve through a hydraulic pipeline, a rod cavity is communicated with a port A of the electromagnetic reversing valve, a port C of the electromagnetic reversing valve is communicated with an oil inlet of the hydraulic energy accumulator and a pressure end of the pressure sensor, and a port D of the electromagnetic reversing valve is communicated with an oil tank; the controller is respectively connected with the frequency converter, the DC/DC converter, the signal end F of the electric cylinder, the signal end of the pressure sensor and the electromagnetic directional valve; the cylinder bodies of the electric cylinder and the hydraulic-pneumatic auxiliary cylinder are hinged to the movable arm, and the piston rods of the electric cylinder and the hydraulic-pneumatic auxiliary cylinder are hinged to the bucket rod.
2. The hydraulic excavator based on the hydro-electric compound drive as claimed in claim 1, wherein: the electric cylinder is powered by a power grid or a storage battery.
3. The hydraulic excavator based on the hydro-electric compound drive as claimed in claim 1, wherein: the driving motor of the electric cylinder is one of an alternating current asynchronous motor, a stepping motor, a switched reluctance motor, a direct current motor or a servo motor.
4. The hydraulic excavator based on the hydro-electric compound drive as claimed in claim 1, wherein: the electric cylinder adopts any one form of a planetary ball screw, a roller screw or a trapezoidal screw for transmission.
5. The hydraulic excavator based on the hydro-electric compound drive as claimed in claim 1, wherein: the hydraulic-pneumatic auxiliary cylinder is a piston type hydraulic cylinder or a plunger type hydraulic cylinder.
6. The hydraulic excavator based on the hydro-electric compound drive as claimed in claim 1, wherein: the hydraulic accumulator is a hydraulic accumulator or a hydraulic accumulator group consisting of two or more hydraulic accumulators.
CN201810643709.1A 2018-06-21 2018-06-21 Hydraulic excavator based on hydraulic-electric composite drive Active CN108755794B (en)

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Publication number Priority date Publication date Assignee Title
WO2021035475A1 (en) * 2019-08-26 2021-03-04 Guangxi Liugong Machinery Co., Ltd. Loader
WO2021035477A1 (en) * 2019-08-26 2021-03-04 Guangxi Liugong Machinery Co., Ltd. Electric excavator
CN114032990A (en) * 2020-07-29 2022-02-11 四川鼎鸿智电装备科技有限公司 Construction machine

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CN107542121A (en) * 2016-06-29 2018-01-05 成都瑞联汇诚机电设备有限公司 A kind of hybrid excavator movable arm potential energy recovery system
CN107089629A (en) * 2017-06-08 2017-08-25 太原理工大学 A kind of hybrid energy-storing hoisting system for engineering machinery

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