CN113183753A - Engineering machinery walking system driven by electric power and hydraulic pressure in parallel - Google Patents

Engineering machinery walking system driven by electric power and hydraulic pressure in parallel Download PDF

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Publication number
CN113183753A
CN113183753A CN202110643348.2A CN202110643348A CN113183753A CN 113183753 A CN113183753 A CN 113183753A CN 202110643348 A CN202110643348 A CN 202110643348A CN 113183753 A CN113183753 A CN 113183753A
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hydraulic
transmission shaft
oil
gear
shaft
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Inventor
陈其怀
蔡少乐
林添良
郭桐
付胜杰
任好玲
李钟慎
方燕飞
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Huaqiao University
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Huaqiao University
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Priority to CN202110643348.2A priority Critical patent/CN113183753A/en
Publication of CN113183753A publication Critical patent/CN113183753A/en
Priority to PCT/CN2022/089150 priority patent/WO2022257628A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention provides an electric hydraulic parallel driving engineering machinery walking system which comprises a mechanical transmission part, an electric driving part, a hydraulic driving part and a walking execution part, wherein the mechanical transmission part comprises an electric input shaft, a hydraulic input shaft, a power output shaft, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft which are arranged in parallel. The invention integrates the advantages of an electric driving system and a hydraulic driving system, adopts an electric driving part and a hydraulic driving part to drive the machinery to walk together, comprehensively exerts the advantages of good electric transmission speed regulation performance and high hydraulic transmission power density, and has relatively low energy consumption, sufficient driving force and good economical efficiency.

Description

Engineering machinery walking system driven by electric power and hydraulic pressure in parallel
Technical Field
The invention relates to a traveling system, in particular to an engineering machinery traveling system driven by electric power and hydraulic pressure in parallel.
Background
With increasingly severe environmental problems and energy crisis, the concepts of energy conservation, emission reduction and environmental protection are gaining more and more national recognition and attention. The engineering machinery (also called as engineering vehicle) has bad working environment, rugged road surface, complex and changeable working conditions, the energy consumption of a walking system is usually relatively high, and the traditional engineering machinery mostly adopts a 'double-variable' hydraulic transmission device consisting of a torque converter and a gearbox to realize speed and torque changing. The hydraulic transmission has the soft working characteristic that the output rotating speed automatically drops along with the increase of the load, can prevent the engine from overloading, but has lower transmission efficiency and larger influence of the rotating speed on the torque ratio, and particularly when the system is required to output high power under heavy load, the transmission efficiency is greatly reduced, thereby not only reducing the operation efficiency, but also causing huge energy waste.
The electric engineering machine is considered as one of ideal driving modes, however, the working condition and the working mode of the engineering machine are greatly different from those of a general vehicle, the research of the electric driving technology in the field of engineering machine traveling systems is still in a starting stage, and the following problems need to be solved urgently:
(1) low-speed large-torque drive under the limiting working condition: when the motor works at a nearly zero rotating speed, the torque controllability is poor, the output power of the motor is greatly reduced, and sufficient power is difficult to provide under the limit working conditions of shovel loading of a loader, ditching of a bulldozer and the like. If the independent high-energy battery, motor, torque converter and gearbox are adopted in the walking driving system, the torque converter with high energy consumption cannot be recovered, so that the overall efficiency is not high, and the energy consumption is relatively high. The traveling driving system of the high-energy battery, the motor and the gearbox cancels a torque converter, so that the energy-saving effect of the whole vehicle is improved, but the system has the problems of insufficient driving capability at the near-zero rotating speed and the like due to the limitation of the output peak power of the motor (generally 2 times of the rated power and greatly reduced at the near-zero rotating speed).
(2) The installed power is difficult to match: the average power of the engineering machinery during operation is only 1/3-1/4 of the instantaneous peak power, if the requirement of the limit working condition is met, the driving motor is selected according to the peak power, large surplus of the assembling power exists, the working point of the driving motor cannot be effectively guaranteed to continuously run in a high-efficiency area, and the economy is poor.
(3) The energy recovery working condition fluctuates violently: in order to meet the long-term operation requirement, the electric engineering machinery generally adopts an energy type battery as an energy source, so that high-rate current charging and discharging are difficult to realize, and further the instantaneous high-power braking energy during frequent starting and stopping cannot be efficiently recovered.
In view of the above, the applicant has made intensive studies to solve the above problems and has made the present invention.
Disclosure of Invention
The invention aims to provide an electro-hydraulic parallel driving engineering machinery walking system which is relatively low in energy consumption, sufficient in driving force and good in economical efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
an engineering machinery walking system driven by electric power and hydraulic pressure in parallel comprises a mechanical transmission part, and an electric power driving part, a hydraulic driving part and a walking executing part which are respectively in transmission connection with the mechanical transmission part, wherein the mechanical transmission part comprises an electric power input shaft, a hydraulic input shaft, a power output shaft, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft which are arranged in parallel, the electric power input shaft is in transmission connection with the electric power driving part, the hydraulic input shaft is in transmission connection with the hydraulic driving part, the power output shaft is in transmission connection with the walking executing part, the electric power input shaft is provided with an input gear, the first transmission shaft is provided with a first gear and a second gear meshed with the input gear, and the first transmission shaft and the second transmission shaft are connected through a first clutch, the hydraulic transmission device comprises a hydraulic input shaft, a second transmission shaft, a third gear, a fourth gear, a seventh gear, a fourth clutch and a seventh transmission shaft, wherein the second transmission shaft is provided with the third gear, the third transmission shaft is connected with the hydraulic input shaft through the second clutch, the third transmission shaft is provided with the fourth gear meshed with the second gear, the fourth transmission shaft is provided with the fifth gear meshed with the second gear, the fourth transmission shaft is connected with the fifth transmission shaft through the third clutch, the fifth transmission shaft is provided with the sixth gear meshed with the third gear, the sixth transmission shaft is provided with the seventh gear meshed with the first gear, the sixth transmission shaft is connected with the seventh transmission shaft through the fourth clutch, and the seventh transmission shaft is provided with the eighth gear meshed with the third gear.
As an improvement of the invention, the electric drive part comprises a first electric power generation all-in-one machine, a first motor control module electrically connected with the first electric power generation all-in-one machine, and a charging and discharging battery electrically connected with the first motor control module, and a rotating shaft of the first electric power generation all-in-one machine is in transmission connection with the electric input shaft.
As an improvement of the invention, the hydraulic driving part comprises a pump-motor integrated machine, a main pump, an oil tank connected with an oil inlet of the main pump, a first two-position two-way electromagnetic directional valve connected with an oil outlet of the main pump, and a three-position four-way electromagnetic directional valve communicated with an oil outlet of the first two-position two-way electromagnetic directional valve, wherein an oil return port of the three-position four-way electromagnetic directional valve is connected with the oil tank, two oil outlets of the three-position four-way electromagnetic directional valve are respectively connected with two oil ports of the pump-motor integrated machine in a one-to-one correspondence manner through hydraulic oil pipes, the two hydraulic oil pipes are respectively connected with oil supplementing pipes connected with the oil tank, the oil supplementing pipes are provided with one-way valves, and a rotating shaft of the pump-motor integrated machine is in transmission connection with the hydraulic input shaft.
As an improvement of the invention, the oil outlet of the main pump and the two oil ports of the pump-motor integrated machine are respectively connected with a first safety valve, and the oil return port of each first safety valve is connected with the oil tank.
As an improvement of the invention, an oil outlet of the first two-position two-way electromagnetic directional valve is further connected with a second two-position two-way electromagnetic directional valve, an oil outlet of the second two-position two-way electromagnetic directional valve is respectively connected with a hydraulic accumulator and a second safety valve, and an oil return port of the second safety valve is connected with the oil tank.
As an improvement of the present invention, oil outlets of the first two-position two-way electromagnetic directional valve and the second two-position two-way electromagnetic directional valve are respectively connected to a pressure sensor.
As an improvement of the invention, the hydraulic steering system further comprises a working and steering hydraulic device, and an oil outlet of the main pump is simultaneously connected with the working and steering hydraulic device.
As an improvement of the invention, a second motor-generator integrated machine is connected to the main pump, a second motor control module is electrically connected to the second motor-generator integrated machine, and the second motor control module is electrically connected with the charging and discharging battery.
As an improvement of the present invention, the charge and discharge battery is a lithium battery.
As an improvement of the invention, a filter is arranged on the oil outlet of the oil tank.
By adopting the technical scheme, the invention has the following beneficial effects:
1. the invention integrates the advantages of an electric driving system and a hydraulic driving system, adopts an electric driving part and a hydraulic driving part to drive the machinery to walk together, comprehensively exerts the advantages of good electric transmission speed regulation performance and high hydraulic transmission power density, and has relatively low energy consumption, sufficient driving force and good economical efficiency.
2. Under the high-speed working condition, the problem that the torque is insufficient due to the fact that the rotating speed is increased when the first electric power generation all-in-one machine works in a constant power area is solved by utilizing the output torque of the pump motor all-in-one machine, when the pump motor all-in-one machine is in charge of shovel loading and rotation blocking working conditions, the variable pump/motor output torque is utilized for assisting the driving of the walking motor, under the limit working conditions that engineering machinery executes engineering operation (such as shovel loading of a loader, ditching of a bulldozer and the like), the first electric power generation all-in-one machine is assisted in driving and walking by utilizing the output torque of the pump motor all-in-one machine, and the power grade required by the first electric power generation all-in-one machine is greatly reduced.
3. The mechanical transmission part of the invention cancels a directional clutch and a corresponding gear, realizes the forward and reverse of the whole vehicle by utilizing the characteristic that the first electric power generation integrated machine and the pump motor integrated machine can rotate positively and negatively, improves the transmission efficiency of the whole vehicle, reduces the installation space of an external oil way, simplifies the electrical control and mechanical structure, greatly improves the reliability of the whole vehicle, reduces the cost and has good economical efficiency.
4. Because the working and steering hydraulic devices of the engineering machinery have large overflow loss when in working, the lost energy is recovered through the hydraulic accumulator and can be used for the hydraulic driving part or the working and steering hydraulic devices for reutilization.
5. By arranging the charge-discharge battery and the hydraulic accumulator, high-rate current charge-discharge is realized, and instantaneous high-power braking energy during frequent start and stop can be efficiently recovered.
Drawings
Fig. 1 is a schematic structural diagram of an electric hydraulic parallel driving engineering machine walking system of the present invention.
The designations in the figures correspond to the following:
100-a mechanical transmission part; 101-a first drive shaft;
102-a second drive shaft; 103-a third drive shaft;
104-a fourth drive shaft; 105-a fifth driveshaft;
106-sixth drive shaft; 107-seventh drive shaft;
109-electric power input shaft; 110-a hydraulic input shaft;
111-a power take-off shaft; 112-input gear;
121-a first gear; 122-a second gear;
123-a third gear; 124-fourth gear;
125-fifth gear; 126-sixth gear;
127-a seventh gear; 128-eighth gear;
129-output gear; 131 — a first clutch;
132-a second clutch; 133-a third clutch;
134-a fourth clutch; 200-an electric drive part;
210-a first electric-power generation all-in-one machine; 220-a first coupling;
300-a hydraulic drive section; 310-pump motor all-in-one;
311-a first safety valve; 312-a second coupling;
320-main pump; 321-a second electric power generation integrated machine;
330-oil tank; 331-a filter;
340-a first two-position two-way electromagnetic directional valve;
341-a second two-position two-way electromagnetic directional valve;
342-a hydraulic accumulator; 343-a second relief valve;
344-a pressure sensor; 350-three-position four-way electromagnetic directional valve;
351-a one-way valve; 500-working and steering hydraulic device,
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As shown in fig. 1, the present embodiment provides an electric hydraulic parallel driving engineering machine walking system, which includes a mechanical transmission portion 100, and an electric driving portion 200, a hydraulic driving portion 300, and a walking executing portion (not shown in the drawings) respectively connected to the mechanical transmission portion 100 in a transmission manner, wherein the walking executing portion is a wheel walking mechanism or a crawler walking mechanism adopted by a conventional engineering machine (such as an excavator, a loader, a log grabber, or the like), which is not a focus of the present embodiment, and will not be described in detail herein.
The mechanical transmission part 100 is substantially a power coupling box, and includes a box body, an electric power input shaft 109, a hydraulic input shaft 110, a power output shaft 111, a first transmission shaft 101, a second transmission shaft 102, a third transmission shaft 103, a fourth transmission shaft 104, a fifth transmission shaft 105, a sixth transmission shaft 106 and a seventh transmission shaft 107, which are disposed in the box body and are parallel to each other, wherein the first transmission shaft 101 and the second transmission shaft 102 are sequentially disposed in a straight line, the third transmission shaft 103 and the hydraulic input shaft 110 are sequentially disposed in a straight line, the fourth transmission shaft 104 and the fifth transmission shaft 105 are sequentially disposed in a straight line, and the sixth transmission shaft 106 and the seventh transmission shaft 107 are sequentially disposed in a straight line. In addition, the electric input shaft 109 is in transmission connection with the electric driving part 200, the hydraulic input shaft 110 is in transmission connection with the hydraulic driving part 300, and the power output shaft 111 is in transmission connection with the walking executing part. It should be noted that the above-mentioned input shaft or output shaft is only named for a shaft, and does not mean that the shaft can only realize torque input or torque output, under certain working conditions, the input shaft may realize a torque output function, the output shaft may realize a torque input function, and similarly, the input gear and the output gear which will be mentioned below are also only named for gears.
An input gear 112 is arranged on the electric power input shaft 109, a first gear 121 and a second gear 122 meshed with the input gear 112 are arranged on the first transmission shaft 101, the first transmission shaft 101 is connected with the second transmission shaft 102 through a first clutch 131, a third gear 123 is arranged on the second transmission shaft 102, the third transmission shaft 103 is connected with the hydraulic input shaft 110 through a second clutch 132, a fourth gear 124 meshed with the second gear 122 is arranged on the third transmission shaft 103, and a fifth gear 125 meshed with the second gear 122 is arranged on the fourth transmission shaft 104, namely the second gear 122 is simultaneously meshed with the input gear 112, the fourth gear 124 and the fifth gear 125; the fourth transmission shaft 104 is connected with the fifth transmission shaft 105 through a third clutch 133, the fifth transmission shaft 105 is provided with a sixth gear 126 engaged with the third gear 123, the sixth transmission shaft 106 is provided with a seventh gear 127 engaged with the first gear 121, the sixth transmission shaft 106 is connected with the seventh transmission shaft 107 through a fourth clutch 134, the seventh transmission shaft 107 is provided with an eighth gear 128 engaged with the third gear 123, the power output shaft 111 is provided with an output gear 129 engaged with the third gear 123, that is, the third gear 123 is simultaneously engaged with the output gear 129, the sixth gear 126 and the eighth gear 128, and the number of teeth of the gears can be set according to actual requirements.
The first clutch 131, the third clutch 133 and the fourth clutch 134 correspond to three speed ratio gears of the mechanical transmission part 100, the connection or disconnection of the second clutch 132 determines whether the hydraulic driving part 300 is coupled with the electric driving part 200, and of course, the box body needs to be provided with a three-gear speed change mechanism matched with each clutch, and the specific speed change mechanism is the same as that matched with a conventional gearbox, and is not described in detail herein. The three-speed gear shift is only one of the multi-speed gear shifts used in the conventional lock for construction machinery, and a gear shift of three or more speeds may be provided according to actual needs.
The mechanical transmission part 100 provided by the embodiment cancels a directional clutch and a corresponding gear adopted by the traditional engineering machinery, and realizes the forward and reverse of the whole vehicle by utilizing the characteristic that the first electric power generation all-in-one machine 210 and the pump motor all-in-one machine 310 can rotate forward and backward.
The engineering machinery traveling system driven by electric power and hydraulic pressure in parallel provided by this embodiment has three driving modes of single-row traveling motor driving, single variable pump/motor driving, traveling motor and variable pump/motor compound driving, when in use, the mechanical transmission part 100 performs corresponding clutch combination according to the conditions of driving gear and driving mode, and outputs power through corresponding gears, and here, a three-gear speed change mechanism is adopted for explanation:
in the single-row traveling motor driving mode, the electric driving part 200 is driven individually, when the shift position is the first shift position, the third clutch 133 is engaged (i.e., in a transmission connection state), the other clutches are disengaged (i.e., in a non-transmission connection state), and the power provided by the electric driving part 200 is transmitted to the traveling execution part through the electric input shaft 109, the first transmission shaft 101, the fourth transmission shaft 104, the fifth transmission shaft 105, the second transmission shaft 102 and the power output shaft 111 in sequence; when the gear is in the second gear, the fourth clutch 134 is engaged, the other clutches are disengaged, and the power provided by the electric driving part 200 is transmitted to the walking executing part through the electric input shaft 109, the first transmission shaft 101, the sixth transmission shaft 106, the seventh transmission shaft 107, the second transmission shaft 102 and the power output shaft 111 in sequence; when the gear is the third gear, the first clutch 131 is engaged, the other clutches are disengaged, and the power provided by the electric driving part 200 is transmitted to the walking executing part through the electric input shaft 109, the first transmission shaft 101, the second transmission shaft 102 and the power output shaft 111 in sequence.
In a single variable pump/motor driving mode, the hydraulic driving part 300 is driven independently, when the gear is the first gear, the second clutch 132 and the third clutch 133 are combined, the other clutches are separated, and the power provided by the hydraulic driving part 300 is transmitted to the walking executing part through the hydraulic input shaft 110, the third transmission shaft 103, the first transmission shaft 101, the fourth transmission shaft 104, the fifth transmission shaft 105, the second transmission shaft 102 and the power output shaft 111 in sequence; when the gear is in the second gear, the second clutch 132 and the fourth clutch 134 are engaged, the other clutches are disengaged, and the power provided by the hydraulic driving part 300 is transmitted to the walking executing part through the hydraulic input shaft 110, the third transmission shaft 103, the first transmission shaft 101, the sixth transmission shaft 106, the seventh transmission shaft 107, the second transmission shaft 102 and the power output shaft 111 in sequence; when the gear is the third gear, the first clutch 131 and the second clutch 132 are engaged, the other clutches are disengaged, and the power provided by the hydraulic driving part 300 is transmitted to the walking executing part through the hydraulic input shaft 110, the third transmission shaft 103, the first transmission shaft 101, the second transmission shaft 102 and the power output shaft 111 in sequence.
In the compound driving mode of the walking motor and the variable pump/motor, the electric driving part 200 and the hydraulic driving part 300 are driven simultaneously, the action of each clutch in each gear state is the same as that in the single variable pump/motor driving mode, the power of the electric driving part 200 and the hydraulic driving part 300 is coupled at the second gear 122, the second gear 122 is driven to rotate together, and then the power is transmitted to the walking executing part along the corresponding transmission shaft.
The power driving part 200 includes a first integrated motor-generator 210, a first motor control module (not shown) electrically connected to the first integrated motor-generator 210, and a charge-discharge battery (not shown) electrically connected to the first motor control module, wherein a rotating shaft of the first integrated motor-generator 210 is in transmission connection with the power input shaft 109 through a first coupling 220, and the charge-discharge battery is preferably a lithium battery. It should be noted that the motor/generator integrated machines mentioned in the present embodiment are all motor/generators having both functions of a motor and a generator, and are directly commercially available.
The hydraulic driving part 300 comprises a pump-motor integrated machine 310, a main pump 320, an oil tank 330 connected with an oil inlet of the main pump 320, a first two-position two-way electromagnetic directional valve 340 connected with an oil outlet of the main pump 320, and a three-position four-way electromagnetic directional valve 350 communicated with an oil outlet of the first two-position two-way electromagnetic directional valve 340, wherein a rotating shaft of the pump-motor integrated machine 310 is in transmission connection with the hydraulic input shaft 110 through a second coupling 312. It should be noted that the pump-motor unit 310 and the main pump 320 are variable pump/motors having both variable pump and hydraulic motor functions, and are directly commercially available.
The pump-motor all-in-one machine 310 has two oil ports, and when one of the oil ports is used as an oil inlet, the other oil port is used as an oil outlet. The two oil ports of the pump-motor all-in-one machine 310 are respectively connected with a first safety valve 311, and an oil return port of each first safety valve 311 is connected with an oil tank 330 to recover hydraulic oil.
The main pump 320 is connected with a second electric power generation all-in-one machine 321, and specifically, a rotating shaft of the second electric power generation all-in-one machine 321 and a rotating shaft of the main pump 320 are coaxially connected through a coupler. The second electric power generation integrated machine 321 is electrically connected with a second motor control module (not shown in the figure), and the second motor control module is electrically connected with a charging and discharging battery, so that the second electric power generation integrated machine 321 is driven to generate power by utilizing the reverse rotation of the main pump 320 to realize energy storage. Preferably, the traveling system of the construction machine provided by the embodiment further includes a working and steering hydraulic device 500, and the working and steering hydraulic device 500 is a hydraulic device for driving the working unit to move and steer on a conventional construction machine, and is not a focus of the embodiment, and will not be described in detail herein. The oil outlet of the main pump 320 is connected to the working and steering hydraulic device 500 at the same time, that is, the hydraulic driving part 300 is connected to the conventional working and steering hydraulic device 500 in parallel, and the surplus power of the working and slewing hydraulic system 500 can be fully utilized, so that energy is saved, and specifically, since the working and steering hydraulic device 500 of the construction machinery (such as a loader, etc.) has a large overflow loss during working, the lost energy is recovered by the hydraulic accumulator 342, which will be mentioned later, and is used for recycling the hydraulic driving part 300 or the working and steering hydraulic device 500. In addition, a first relief valve 311 is also connected to the outlet of the main pump 320, and the oil return port of the first relief valve 311 is also connected to the oil tank 330 to protect the main pump 320.
An oil outlet of the oil tank 330 is provided with a filter 331, and an oil inlet of the main pump 320 is connected with the oil tank 330 through the filter 331, so that the hydraulic channel is prevented from being blocked by pollutants mixed in the oil tank 330. The oil inlet of the first two-position two-way electromagnetic directional valve 340 is connected with the oil outlet of the main pump 320, and the oil outlet of the main pump 320 is further connected with the oil inlet of the first safety valve 311 and the working and steering hydraulic device 500, so the oil inlet of the first two-position two-way electromagnetic directional valve 340 is also substantially connected with the oil inlet of the first safety valve 311 and the working and steering hydraulic device 500.
Preferably, an oil outlet of the first two-position two-way electromagnetic directional valve 340 is further connected with a second two-position two-way electromagnetic directional valve 341, specifically, an oil outlet of the first two-position two-way electromagnetic directional valve 340 is connected with an oil inlet of the second two-position two-way electromagnetic directional valve 341, an oil outlet of the second two-position two-way electromagnetic directional valve 341 is respectively connected with a hydraulic energy accumulator 342 and a second safety valve 343, and an oil return port of the second safety valve 343 is connected with the oil tank 330. In addition, in the present embodiment, the oil outlets of the first two-position two-way electromagnetic directional valve 340 and the second two-position two-way electromagnetic directional valve 341 are respectively connected with a pressure sensor 344.
The three-position four-way electromagnetic directional valve 350 is provided with an oil inlet, an oil return port and two oil outlets, the oil inlet of the three-position four-way electromagnetic directional valve 350 is connected with the oil outlet of the first two-position two-way electromagnetic directional valve 340, the oil return port of the three-position four-way electromagnetic directional valve 350 is connected with the oil inlet of the second two-position two-way electromagnetic directional valve 341 substantially simultaneously, the oil return port of the three-position four-way electromagnetic directional valve 350 is connected with the oil tank 330, the two oil outlets of the three-position four-way electromagnetic directional valve 350 are connected with the two oil outlets of the pump-motor integrated machine 310 through hydraulic oil pipes in a one-to-one correspondence manner, the two hydraulic oil pipes are connected with oil supplementing pipes connected with the oil tank 330 respectively, and each oil supplementing pipe is provided with a one-way valve 351, so that the pump-motor integrated machine 310 can supplement oil by using the oil supplementing pipes, and can prevent backflow at the same time.
Preferably, in this embodiment, rotation speed sensors are installed on the rotation shafts of the first integrated electric-power generation machine 210 and the pump-motor integrated machine 310, the rotation speed sensor on the first integrated electric-power generation machine 210 is in communication with the first motor controller, and the rotation speed sensor on the pump-motor integrated machine 310 is in communication connection with the second motor controller, so that the corresponding motor controller can read corresponding rotation speed and torque signals.
As described above, the engineering machinery traveling system driven by the electro-hydraulic parallel driving provided by the embodiment has three driving modes, namely single-row traveling motor driving, single-variable pump/motor driving, traveling motor and variable pump/motor compound driving, and in the single-variable pump/motor driving mode, the advantage that the variable pump/motor all-in-one machine 310 works at a low speed and a large torque by matching with the hydraulic accumulator 342 is exerted, and the engineering machinery traveling system is mainly responsible for starting working conditions; in the single-row motor driving mode, the advantage of high efficiency of the first electric power generation all-in-one machine 210 is exerted, and the first electric power generation all-in-one machine is mainly responsible for medium-low speed working conditions; in the walking motor and variable pump/motor combined driving mode, when the integrated motor 310 is in charge of a high-speed working condition, the problem that the torque is insufficient when the integrated motor 310 works in a constant power area due to the fact that the rotating speed is increased is solved by utilizing the torque output by the integrated motor 310, and when the integrated motor 310 is in charge of a working condition of executing engineering operation (such as shovel-loading locked rotation), the torque output by the integrated motor 310 is used for assisting the integrated motor 210 to drive, so that the power grade of the integrated motor 210 is greatly reduced. The specific control method of each electromagnetic directional valve is shown in the following table (the orientations shown in the upper-lower and left-right orientation bit map 1 in the table):
Figure BDA0003108865270000101
Figure BDA0003108865270000111
in the engineering machinery walking system driven by the electric power and the hydraulic pressure in parallel provided by the embodiment, the hydraulic accumulator-variable pump/motor is adopted to couple and drive the first electric power generation all-in-one machine 210 serving as a walking motor through the mechanical transmission part 100 (power coupling box), a torque converter used by the traditional engineering machinery (such as a loader or an excavator) is eliminated, under the working condition of near zero rotating speed or peak load, the hydraulic motor (namely the pump motor all-in-one machine 310) is utilized to assist the electric motor (namely the first electric power generation all-in-one machine 210) to output instantaneous large torque, the driving requirement of the limit working condition is met, and the first electric power generation all-in-one machine 210 only needs to output one average torque; under the working condition of negative load, the high-efficiency combined recovery of instantaneous high-power energy and stable low-power energy is respectively realized by using a double-energy recovery unit consisting of the hydraulic accumulator 342 and a lithium battery.
Because engineering machine tool one-time operation operating mode such as loader or excavator is complicated, frequently, make braking frequency high, and traditional braking system adopts the mode of friction braking, braking system's life-span is difficult to the aassessment and is leaded to the reliability hidden danger, for solving this problem, it is preferred, this embodiment provides one kind and proposes priority motor braking mode energy recuperation, the strategy of time variable pump/motor braking mode energy recuperation, because electric circuit efficiency is higher than hydraulic circuit, simultaneously, because the braking torque is great, it is obvious to realize the energy recuperation effect, whole car cruising ability has been promoted greatly, concrete mode is as follows: performing mode judgment by combining the SOC value of the lithium battery, outputting reverse torque by using the first electric power generation all-in-one machine 210 and/or the second electric power generation all-in-one machine 321 when the SOC value is in a chargeable state, generating counter electromotive force in a load state, recycling energy generated by braking, and storing the energy into the lithium battery; when the SOC value is in a state of being not chargeable or having low charging efficiency, the variable displacement pump/motor is operated in a pump mode to convert the kinetic energy of the engineering machinery during traveling into pressure energy and store the pressure energy into the hydraulic accumulator 342, and particularly, when the entire vehicle is traveling under a high-speed sliding condition, hydraulic energy recovery can be performed.
Specifically, the energy recovery system mainly comprises two parts, namely an energy recovery part and a regenerative braking part, of the working and steering hydraulic device 500. For energy recovery of the working and steering hydraulic device 500, when the working and steering hydraulic device 500 has recoverable energy, a whole machine controller of the engineering machine (the controller is a conventional controller, but does not belong to a part of the embodiment, and certainly an independent controller can be added in the embodiment, and the controller is in communication connection with the whole machine controller during use) is used for monitoring a pressure sensor 344 connected to an oil outlet of the second two-position two-way electromagnetic directional valve 341, so as to judge whether the hydraulic accumulator 342 is in a recoverable state, and when the hydraulic accumulator 342 is in a recoverable state, the first two-position two-way electromagnetic directional valve 340 works at a lower station, and the second two-position two-way electromagnetic directional valve 341 works at a right station, so as to recover the energy; for regenerative braking, the whole machine controller monitors the SOC value of the lithium battery, when the SOC value is in a recoverable state, the electric energy recovery is performed, the complete machine control controller sends a torque mode request to the first electric power generation integrated machine 210 through the first motor controller, the whole machine controller receives and processes the opening signal of the electronic brake pedal, assigns a braking torque for the electronic brake pedal, when the SOC value is in an unrecoverable state or the recovery efficiency is low, hydraulic energy recovery is carried out, energy recovery is carried out by the hydraulic energy accumulator 342, at the moment, the pump-motor all-in-one machine 310 works in a pump working condition, the second two-position two-way electromagnetic reversing valve 341 works in a right work position, the three-position four-way electromagnetic reversing valve 350 works in a lower work position during forward braking and works in an upper work position during reverse braking, when the whole vehicle runs under a high-speed sliding working condition, hydraulic energy recovery is carried out, and the control mode is the same as the above.
When the engineering machinery traveling system provided by the embodiment is applied to engineering machinery, the working principle is as follows: the whole machine controller of the engineering machinery is used for collecting and processing feedback rotating speed and feedback torque signals of the two motor controllers, electronic accelerator opening signals of the engineering machinery, brake pedal opening signals, pressure sensor pressure feedback signals of an engineering machinery walking system, battery management system SOC signals and the like, judging each driving working condition and braking energy recovery modes, meanwhile, executing a preset control strategy by the whole machine controller, and sending control signals to the two motor controllers, the three electromagnetic reversing valves and the four clutches in the embodiment, so that the first electric power generation all-in-one machine 210 and the pump motor all-in-one machine 310 are controlled to output power, valve core displacement of the three electromagnetic reversing valves and combination or separation of the four clutches, and further each driving working condition and energy recovery mode are realized.
The present invention is described in detail with reference to the attached drawings, but the embodiments of the present invention are not limited to the above embodiments, and those skilled in the art can make various modifications to the present invention based on the prior art, which fall within the scope of the present invention.

Claims (10)

1. The engineering machinery walking system driven by electric power and hydraulic pressure in parallel is characterized by comprising a mechanical transmission part, and an electric power driving part, a hydraulic driving part and a walking execution part which are respectively in transmission connection with the mechanical transmission part, wherein the mechanical transmission part comprises an electric power input shaft, a hydraulic input shaft, a power output shaft, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft which are arranged in parallel, the electric power input shaft is in transmission connection with the electric power driving part, the hydraulic input shaft is in transmission connection with the hydraulic driving part, the power output shaft is in transmission connection with the walking execution part, the electric power input shaft is provided with an input gear, the first transmission shaft is provided with a first gear and a second gear meshed with the input gear, the first transmission shaft is connected with the second transmission shaft through a first clutch, a third gear is arranged on the second transmission shaft, the third transmission shaft is connected with the hydraulic input shaft through a second clutch, and a fourth gear meshed with the second gear is arranged on the third transmission shaft, a fifth gear meshed with the second gear is arranged on the fourth transmission shaft, and the fourth transmission shaft is connected with the fifth transmission shaft through a third clutch, a sixth gear meshed with the third gear is arranged on the fifth transmission shaft, a seventh gear meshed with the first gear is arranged on the sixth transmission shaft, and the sixth transmission shaft is connected with the seventh transmission shaft through a fourth clutch, and the seventh transmission shaft is provided with an eighth gear meshed with the third gear.
2. The electro-hydraulic parallel-driven engineering machinery traveling system according to claim 1, wherein the electric drive part comprises a first electric-power-generation all-in-one machine, a first motor control module electrically connected with the first electric-power-generation all-in-one machine, and a charge-discharge battery electrically connected with the first motor control module, and a rotating shaft of the first electric-power-generation all-in-one machine is in transmission connection with the electric input shaft.
3. The traveling system of electro-hydraulic parallel drive construction machines according to claim 2, the hydraulic driving part comprises a pump-motor integrated machine, a main pump, an oil tank connected with an oil inlet of the main pump, a first two-position two-way electromagnetic reversing valve connected with an oil outlet of the main pump, and a three-position four-way electromagnetic reversing valve communicated with an oil outlet of the first two-position two-way electromagnetic reversing valve, the oil return port of the three-position four-way electromagnetic directional valve is connected with the oil tank, two oil outlets of the three-position four-way electromagnetic directional valve are respectively connected with two oil ports of the pump-motor integrated machine in a one-to-one correspondence manner through hydraulic oil pipes, and two hydraulic oil pipes are respectively connected with an oil supplementing pipe connected with the oil tank, the oil supplementing pipe is provided with a one-way valve, and a rotating shaft of the pump-motor integrated machine is in transmission connection with the hydraulic input shaft.
4. The traveling system of an electro-hydraulic parallel-driven construction machine according to claim 3, wherein first safety valves are further connected to an oil outlet of the main pump and two oil ports of the pump-motor integrated machine, respectively, and an oil return port of each first safety valve is connected to the oil tank.
5. The traveling system of the electro-hydraulic parallel-driven engineering machinery as claimed in claim 3, wherein an oil outlet of the first two-position two-way electromagnetic directional valve is further connected with a second two-position two-way electromagnetic directional valve, an oil outlet of the second two-position two-way electromagnetic directional valve is respectively connected with a hydraulic accumulator and a second safety valve, and an oil return port of the second safety valve is connected with the oil tank.
6. The traveling system of the electro-hydraulic parallel-driven engineering machinery according to claim 5, wherein oil outlets of the first two-position two-way electromagnetic directional valve and the second two-position two-way electromagnetic directional valve are respectively connected with a pressure sensor.
7. The traveling system of an electro-hydraulic parallel-drive construction machine according to claim 3, further comprising a working and steering hydraulic device, wherein the oil outlet of the main pump is connected to the working and steering hydraulic device at the same time.
8. The traveling system of the electro-hydraulic parallel-driven engineering machine according to claim 3, wherein a second electric-power generation all-in-one machine is connected to the main pump, a second motor control module is electrically connected to the second electric-power generation all-in-one machine, and the second motor control module is electrically connected to the charge-discharge battery.
9. The traveling system of electro-hydraulic parallel driven engineering machinery according to claim 8, wherein the charge and discharge battery is a lithium battery.
10. The traveling system of an electro-hydraulic parallel-driven construction machine according to claim 3, wherein a filter is installed at an oil outlet of the oil tank.
CN202110643348.2A 2021-06-09 2021-06-09 Engineering machinery walking system driven by electric power and hydraulic pressure in parallel Pending CN113183753A (en)

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Publication number Priority date Publication date Assignee Title
WO2022257628A1 (en) * 2021-06-09 2022-12-15 华侨大学 Electro-hydraulic parallel driving engineering machinery locomotion system
CN115675069A (en) * 2022-11-17 2023-02-03 西南交通大学 Electro-hydrostatic parallel hybrid-driven heavy-load AGV steering wheel

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DE10045567B4 (en) * 1999-09-16 2005-07-07 Komatsu Ltd. Hydraulic drive device for a work machine
CN101704337B (en) * 2009-09-25 2012-07-11 徐工集团工程机械有限公司 Parallel-connection type hydraulic-electro hybrid power driving system
CN109435675B (en) * 2018-10-16 2021-02-05 广州汽车集团股份有限公司 Hybrid vehicle drive device and control method thereof
CN214928972U (en) * 2021-06-09 2021-11-30 华侨大学 Engineering machinery walking system driven by electric power and hydraulic pressure in parallel
CN113183753A (en) * 2021-06-09 2021-07-30 华侨大学 Engineering machinery walking system driven by electric power and hydraulic pressure in parallel

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022257628A1 (en) * 2021-06-09 2022-12-15 华侨大学 Electro-hydraulic parallel driving engineering machinery locomotion system
CN115675069A (en) * 2022-11-17 2023-02-03 西南交通大学 Electro-hydrostatic parallel hybrid-driven heavy-load AGV steering wheel

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