CN113250270B - Swing arm operation control system and excavator - Google Patents
Swing arm operation control system and excavator Download PDFInfo
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- CN113250270B CN113250270B CN202110459645.1A CN202110459645A CN113250270B CN 113250270 B CN113250270 B CN 113250270B CN 202110459645 A CN202110459645 A CN 202110459645A CN 113250270 B CN113250270 B CN 113250270B
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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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- 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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to a boom operation control system and an excavator, wherein the boom operation control system includes: an oil tank; the oil cylinder comprises a rod cavity and a rodless cavity; an energy storage device; the first oil way is connected with the oil tank and the oil cylinder; a first direction changing valve provided in the first oil passage, the first direction changing valve being configured to operatively enter the oil in the first oil passage into the rod chamber or the rodless chamber; the second oil way is connected with the rodless cavity and the energy storage device; the energy recovery valve is arranged on the second oil way and is configured to enable the oil in the second oil way to enter the energy storage device in an opening state; the third oil way is connected with the rod cavity and an oil way between the energy recovery valve and the energy storage device; and a regeneration valve provided in the third oil passage, the regeneration valve being configured to let a part of the oil in the third oil passage enter the rod chamber in an open state. The invention can prevent the rod cavity from being sucked empty, and can improve the descending speed of the movable arm while controlling the movable arm to descend stably.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a movable arm operation control system and an excavator.
Background
In the related art, in the process of descending a movable arm of an excavator, an energy storage device is arranged for recovering the potential energy of descending the movable arm, and since the energy storage device needs to be pre-charged with a certain air pressure value, in the process of descending the movable arm and recovering the energy, the air pressure is converted into hydraulic back pressure with the same size through a piston energy accumulator, as the movable arm continues to descend, the oil return back pressure becomes larger and larger, the descending speed of the movable arm gradually becomes slower, the operation performance of descending the movable arm is poor, and the operation efficiency is slow. Therefore, in the related art, only the effect of recovering the boom lowering potential is considered, and the boom lowering manipulation performance requirement and the boom lowering speed requirement are not concerned.
Disclosure of Invention
Some embodiments of the present invention provide a boom operation control system and an excavator, which are used for alleviating the problems of poor control performance and low operation efficiency in a boom descending energy recovery process.
Some embodiments of the present invention provide a boom operation control system, including:
an oil tank;
the oil cylinder comprises a rod cavity and a rodless cavity;
an energy storage device;
the first oil way is connected with the oil tank and the oil cylinder;
a first direction change valve provided in the first oil passage, the first direction change valve being configured to operatively cause oil in the first oil passage to enter the rod chamber or the rodless chamber;
the second oil way is connected with the rodless cavity and the energy storage device;
an energy recovery valve provided in the second oil passage, the energy recovery valve being configured to cause the oil in the second oil passage to enter the energy storage device in an open state;
the third oil way is connected with the rod cavity and the oil way between the energy recovery valve and the energy storage device; and
a regeneration valve provided in the third oil passage, the regeneration valve being configured to cause a part of the oil in the third oil passage to enter the rod chamber in an open state.
In some embodiments, the boom operation control system further comprises:
a fourth oil passage connecting the oil tank, a control end of the energy recovery valve, and a control end of the regeneration valve; and
and the proportional pressure reducing valve is arranged on the fourth oil path, is configured to enable the oil of the fourth oil path to enter the control end of the energy recovery valve and the control end of the regeneration valve under the opening state, and regulates the oil pressure of the fourth oil path.
In some embodiments, the cracking pressure of the regeneration valve is greater than the cracking pressure of the energy recovery valve.
In some embodiments, the energy recovery valve comprises:
the oil inlet of the pressure compensation valve is connected to the rodless cavity; and
the second reversing valve comprises a first station and a second station, a first oil port of the second reversing valve is connected to an oil outlet of the pressure compensation valve, a second oil port of the second reversing valve is respectively connected to the energy storage device and the third oil path, the first oil port of the second reversing valve is communicated with the second oil port when the second reversing valve is in the first station, and the first oil port of the second reversing valve is disconnected with the second oil port when the second reversing valve is in the second station.
In some embodiments, the energy recovery valve comprises:
an oil outlet of the pressure compensation valve is connected to the energy storage device and the third oil way respectively; and the second reversing valve comprises a first station and a second station, a first oil port of the second reversing valve is connected to the rodless cavity, a first oil port of the second reversing valve is connected to the oil inlet of the pressure compensation valve, the first oil port of the second reversing valve is communicated with the second oil port when the second reversing valve is arranged at the first station, and the first oil port of the second reversing valve is disconnected with the second oil port when the second station is arranged.
In some embodiments, the boom operation control system further comprises:
the first check valve is arranged on the second oil way, an oil inlet of the first check valve is connected to the energy recovery valve, and a first oil outlet of the first check valve is connected to the rodless cavity; and
a first lock valve, a first oil port of the first lock valve being connected to a second oil outlet of the first check valve, a second oil port of the first lock valve being connected to a control end of the first check valve, the first lock valve including a first station and a second station, the first lock valve being configured to control the control end of the first check valve at the first station to block oil flowing from the first oil outlet of the first check valve to the oil inlet of the first check valve, the first lock valve being configured to control the control end of the first check valve at the second station to allow oil flowing from the first oil outlet of the first check valve to the oil inlet of the first check valve.
In some embodiments, the boom operation control system further comprises:
a fourth oil passage connecting the oil tank, the control end of the energy recovery valve, the control end of the regeneration valve, and the control end of the first lockup valve; and
a proportional pressure reducing valve provided in the fourth oil passage, the proportional pressure reducing valve being configured to let the oil of the fourth oil passage enter a control end of the energy recovery valve, a control end of the regeneration valve, and a control end of the first lock valve in an open state, for opening the energy recovery valve and the regeneration valve, and for putting the first lock valve in a second station; the proportional pressure reducing valve is also configured to adjust an oil pressure of the fourth oil passage.
In some embodiments, the regeneration valve comprises:
the control end is configured to control the third reversing valve to be in the second station, the third oil path is disconnected when the third reversing valve is in the first station, and the third oil path is communicated when the third reversing valve is in the second station; and
an oil inlet of the second one-way valve is connected to the third reversing valve, and an oil outlet of the second one-way valve is connected to the rod cavity.
In some embodiments, the first direction valve includes a first position, a second position, a third position, a first control end and a second control end, the first control end is configured to control the first direction valve to be in the first position, the second control end is configured to control the first direction valve to be in the second position, the first direction valve is configured to enable the oil in the first oil path to enter the rodless chamber in the first position, enable the oil in the first oil path to enter the rod chamber in the second position, and disconnect the first oil path in the third position.
In some embodiments, the boom operation control system further comprises:
the fifth oil path is connected with the oil tank and the second control end of the first reversing valve; and
and a first pressure sensor provided in the fifth oil passage, the first pressure sensor being configured to detect an oil pressure in the fifth oil passage and to send a signal for controlling opening areas of the energy recovery valve and the regeneration valve when the oil pressure in the fifth oil passage reaches a set value.
In some embodiments, the boom operation control system further comprises:
a fourth oil passage connecting the oil tank, a control end of the energy recovery valve, and a control end of the regeneration valve; and
and the proportional pressure reducing valve is arranged on the fourth oil path, is configured to enable the oil of the fourth oil path to enter the control end of the energy recovery valve and the control end of the regeneration valve under the opening state, and is further configured to adjust the oil pressure of the fourth oil path according to the magnitude of the pressure signal sent by the first pressure sensor.
In some embodiments, the boom operation control system further comprises:
the third one-way valve is arranged on an oil way between the first reversing valve and the rodless cavity, an oil inlet of the third one-way valve is connected to the first reversing valve, and a first oil outlet of the third one-way valve is connected to the rodless cavity; and
a first oil port of the second locking valve is connected to a second oil outlet of the third one-way valve, and a second oil port of the second locking valve is connected to a control end of the third one-way valve; the second latch valve includes a first position and a second position, the second latch valve is configured to control the control end of the third one-way valve in the first position to block oil at the first oil outlet of the third one-way valve from flowing to the oil inlet of the third one-way valve, and the second latch valve is configured to control the control end of the third one-way valve in the second position to allow oil at the second oil outlet of the third one-way valve to flow to the oil inlet of the third one-way valve.
In some embodiments, the boom operation control system further comprises:
the sixth oil path is connected to the control end of the second locking valve; and
and the switching valve is arranged on the sixth oil path and is configured to enable the oil in the sixth oil path to enter the control end of the second locking valve in an opening state so as to enable the second locking valve to be in the second working position, and to disconnect the sixth oil path in a closing state so as to enable the second locking valve to be in the first working position.
In some embodiments, the boom operation control system further includes a fifth oil passage connecting the oil tank and the second control end of the first direction valve; the sixth oil passage is connected to the fifth oil passage.
In some embodiments, the proportional pressure reducing valve comprises:
the first proportional pressure reducing valve is connected to the control end of the energy recovery valve; and
and the second proportional pressure reducing valve is connected to the control end of the regeneration valve.
In some embodiments, the boom operation control system further comprises:
a second pressure sensor configured to detect an oil pressure within the rod chamber; and
a third pressure sensor configured to detect an oil pressure within the rodless chamber;
wherein the second proportional pressure reducing valve is configured to regulate an oil pressure flowing to a control end of the regeneration valve according to an oil pressure difference of the oil pressures detected by the second pressure sensor and the third pressure sensor.
Some embodiments of the present invention provide an excavator including a boom and the above-described boom operation control system configured to operatively control the boom to be raised or lowered.
Based on the technical scheme, the invention at least has the following beneficial effects:
in some embodiments, the first directional valve is configured to operatively enable oil in the first oil path to enter a rod chamber or a rodless chamber of the oil cylinder, the second oil path is connected with the rodless chamber and the energy storage device, the third oil path is connected with the rod chamber, and an oil path between the energy recovery valve and the energy storage device.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic view of a boom operation control system provided according to a first embodiment of the present invention;
fig. 2 is a schematic view of a boom operation control system provided according to a second embodiment of the present invention;
fig. 3 is a schematic view of a boom operation control system according to a third embodiment of the present invention.
The reference numbers in the drawings illustrate the following:
100-oil tank;
200-oil cylinder; 201-rod cavity; 202-rodless cavity;
300-an energy storage device;
400-a first pump;
500-a second pump;
600-control valves and actuators;
11-a first oil path; 12-a second oil path; 13-a third oil path; 14-a fourth oil path; 15-a fifth oil path; 16-a sixth oil path; 2-a first reversing valve;
3-an energy recovery valve; 31-a pressure compensation valve; 32-a second direction valve;
4-a regeneration valve; 41-a third directional valve; 42-a second one-way valve;
5-proportional pressure reducing valve; 51-a first proportional pressure relief valve; 52-a second proportional pressure reducing valve;
6-a first holding valve; 61-a first one-way valve; 62-a first latch valve;
7-a second holding valve; 71-a third one-way valve; 72-a second latch valve;
81-a first pressure sensor; 82-a second pressure sensor; 83-a third pressure sensor;
9-a switch valve;
10-fourth one-way valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
As shown in fig. 1 to 3, some embodiments provide a boom operation control system including a tank 100, a cylinder 200, an accumulator 300, a first oil passage 11, a first direction changing valve 2, a second oil passage 12, an energy recovery valve 3, a third oil passage 13, and a regeneration valve 4.
The cylinder 200 includes a rod chamber 201 and a rodless chamber 202. In the oil cylinder 200, a cavity in which a cylinder rod is located is a rod cavity 201. The cylinder 200 is used to drive the boom to ascend or descend. The first oil passage 11 connects the oil tank 100 and the oil cylinder 200. A first direction change valve 2 is provided in the first oil passage 11, and the first direction change valve 2 is configured to operatively cause oil in the first oil passage 11 to enter the rod chamber 201 or the rodless chamber 202.
The second oil passage 12 connects the rodless chamber 202 and the accumulator 300. An energy recovery valve 3 is provided in the second oil passage 12, and the energy recovery valve 3 is configured to let the oil in the second oil passage 12 enter the accumulator 300 in an open state.
The third oil passage 13 is connected to the rod chamber 201, and an oil passage between the energy recovery valve 3 and the accumulator 300. A regeneration valve 4 is provided in the third oil passage 13, and the regeneration valve 4 is configured to let part of the oil in the third oil passage 13 into the rod chamber 201 in an open state. The oil in the third oil passage 13 is derived from the second oil passage 12, and the position where the third oil passage 13 communicates with the second oil passage 12 is between the energy recovery valve 3 and the accumulator 300.
In the related art, since energy during a boom descending process needs to be recovered, the energy storage device 300 may set a high initial air pressure value, the air pressure value may be converted into a hydraulic pressure value of the same magnitude, and the air pressure value may rapidly rise during the boom descending process, so that a problem that a front stroke is fast and a rear stroke is slow may occur in a descending speed of the boom. Moreover, the variable pump for providing power for the boom to descend is in constant power control, the pressure of the rodless cavity 202 of the oil cylinder 200 is increased to cause the outlet pressure of the variable pump to be increased, when the outlet pressure of the variable pump is increased to reach a constant power control range, the outlet flow of the variable pump is reduced, the boom descending speed is slower, and the operability requirement is difficult to meet.
In view of this, in the embodiment of the present disclosure, the third oil path 13 and the regeneration valve 4 are provided, the third oil path 13 communicates with the oil path between the energy recovery valve 3 and the energy storage device 300, and the regeneration valve 4 is opened to guide part of the oil passing through the energy recovery valve 3 to the rod chamber 201, thereby preventing the rod chamber 201 from being emptied, increasing the boom lowering speed while controlling the boom to be lowered smoothly, alleviating the problem of the boom lowering speed being slow due to the influence of the air pressure of the energy storage device 300, and recovering the boom lowering energy while improving the boom lowering operability and the work efficiency.
In some embodiments, the boom operation control system further includes a fourth oil passage 14 and a proportional pressure reducing valve 5.
The fourth oil passage 14 connects the oil tank 100, the control end of the energy recovery valve 3, and the control end of the regeneration valve 4. A proportional pressure reducing valve 5 is provided in the fourth oil passage 14, the proportional pressure reducing valve 5 is configured to let the oil of the fourth oil passage 14 enter the control end of the energy recovery valve 3 and the control end of the regeneration valve 4 in an open state, and the proportional pressure reducing valve 5 is further configured to regulate the oil pressure of the fourth oil passage 14.
The regeneration valve 4 and the energy recovery valve 3 are synchronously controlled by a proportional pressure reducing valve 5. Because the pilot control oil of the energy recovery valve 3 is directly input after being decompressed by the proportional pressure reducing valve 5, the reversing speed of the valve core after the pilot handle is operated is increased, and the problem of delayed opening of the energy recovery valve 3 in the descending process of the movable arm is solved.
In some embodiments, the cracking pressure of the regeneration valve 4 is greater than the cracking pressure of the energy recovery valve 3. Before the regeneration valve 4 is not opened, the descending potential energy can be recovered as much as possible.
In some embodiments, the energy recovery valve 3 comprises a pressure compensation valve 31 and a second direction valve 32, the second direction valve 32 comprising a first station and a second station.
In the embodiment shown in fig. 1, the oil inlet of the pressure compensation valve 31 is connected to the rodless chamber 202. A first oil port of the second directional valve 32 is connected to the oil outlet of the pressure compensation valve 31, a second oil port of the second directional valve 32 is connected to the energy storage device 300 and the third oil path 13, the second directional valve 32 is configured such that the first oil port is communicated with the second oil port and the second oil path 12 is communicated at a first station, and the first oil port is disconnected from the second oil port and the second oil path 12 is disconnected at a second station. In the first embodiment, the pressure compensating valve 31 provides pre-valve pressure compensation.
In the embodiment shown in fig. 3, the oil outlets of the pressure compensating valves 31 are connected to the accumulator 300 and the third oil passage 13, respectively. A first oil port of the second reversing valve 32 is connected to the rodless cavity 202, a second oil port of the second reversing valve 32 is connected to an oil inlet of the pressure compensation valve 31, the second reversing valve 32 is configured such that the first oil port is communicated with the second oil port at a first station, the second oil path 12 is communicated, and the first oil port is disconnected from the second oil port and the second oil path 12 is disconnected at a second station. In the second embodiment, the pressure compensating valve 31 provides post-valve pressure compensation.
In the above embodiments, when the second direction valve 32 is at the first station, the first oil port of the second direction valve 32 is communicated with the second oil port, the second oil path 12 is communicated, the first oil port of the second direction valve 32 is an oil inlet, and the second oil port is an oil outlet. When the second direction valve 32 is in the second station, the first oil port and the second oil port of the second direction valve 32 are disconnected, and the second oil path 12 is disconnected.
In some embodiments, the second direction valve 32 includes a control end, and the opening area of the second direction valve 32 is adjustable by supplying pilot oil at different pressures to the control end of the second direction valve 32 to adjust the opening area of the second direction valve 32.
Optionally, the pressure compensating valve 31 comprises an adjustable pressure reducing valve.
Since the pressure difference generated at the inlet and the outlet of the second direction valve 32 is equal to the spring force set by the pressure compensation valve 31, the magnitude of the spring force is substantially constant, i.e. the pressure difference between the inlet and the outlet of the second direction valve 32 is substantially constant, and therefore, the flow rate passing through the second direction valve 32 is proportional to the opening area of the second direction valve 32. As the pilot pressure increases, the opening area of the second direction valve 32 increases, the flow rate passing through the second direction valve 32 increases, the amount of oil returned from the rodless chamber 202 of the cylinder 200 increases, the regeneration flow rate increases, and the boom lowering speed changes linearly with the change in the pilot pressure.
The fourth oil passage 14 is connected to a control end of the second selector valve 32, and the oil pressure of the fourth oil passage 14 is adjusted by the proportional pressure reducing valve 5 to adjust the opening area of the second selector valve 32.
In some embodiments, the boom operation control system further includes a first holding valve 6, and the first holding valve 6 includes a first check valve 61 and a first lock valve 62.
The first check valve 61 is arranged on the second oil path 12, an oil inlet of the first check valve 61 is connected to the energy recovery valve 3, and a first oil outlet of the first check valve 61 is connected to the rodless cavity 202.
The first oil port of the first latch valve 62 is connected to the second oil outlet of the first check valve 61, the second oil port of the first latch valve 62 is connected to the control end of the first check valve 61, and the first latch valve 62 comprises a first station and a second station.
The first check valve 62 is configured to control the control end of the first check valve 61 in the first position to block oil at the first oil outlet of the first check valve 61 from flowing to the oil inlet of the first check valve 61.
The first check valve 62 is configured to control the control end of the first check valve 61 to flow oil at the first oil outlet of the first check valve 61 to the oil inlet of the first check valve 61 in the second position.
The first lock valve 62 is at the first station, and a first oil port and a second oil port of the first lock valve 62 are communicated, the first oil port being an oil inlet, and the second oil port being an oil outlet. The first latch valve 62 is in the second position, and the first port of the first latch valve 62 is disconnected from the second port. The second port of the first latch valve 62 is communicated with the third port of the first latch valve 62, and the third port of the first latch valve 62 is communicated with the oil tank 100.
Optionally, the first latch valve 62 comprises a reversing valve.
In some embodiments, the boom operation control system further includes a fourth oil passage 14 and a proportional pressure reducing valve 5.
The fourth oil passage 14 connects the oil tank 100, the control end of the energy recovery valve 3, the control end of the regeneration valve 4, and the control end of the first lock valve 62.
A proportional pressure reducing valve 5 is provided in the fourth oil passage 14, the proportional pressure reducing valve 5 being configured to let the oil of the fourth oil passage 14 enter the control end of the energy recovery valve 3, the control end of the regeneration valve 4, and the control end of the first lock valve 62 in an open state for opening the energy recovery valve 3 and the regeneration valve 4, and for putting the first lock valve 62 in the second position.
The proportional pressure reducing valve 5 is also configured to adjust the oil pressure of the fourth oil passage 14 to adjust the opening area of the energy recovery valve 3, that is, to adjust the flow rate through the energy recovery valve 3, and to adjust the opening area of the regeneration valve 4, that is, to adjust the flow rate of the regeneration valve 4.
In some embodiments, the regeneration valve 4 includes a third directional valve 41 and a second one-way valve 42.
The third direction valve 41 comprises a first station, a second station and a control end, the control end is configured to control the third direction valve 41 to be in the second station, the third direction valve 41 is in the first station, the third oil path 13 is disconnected, the third direction valve 41 is in the second station, and the third oil path 13 is communicated.
An oil inlet of the second check valve 42 is connected to the third reversing valve 41, and an oil outlet of the second check valve 42 is connected to the rod chamber 201.
The fourth oil passage 14 is connected to a control end of the third directional valve 41, and the oil pressure of the fourth oil passage 14 is regulated by the proportional pressure reducing valve 5 to regulate the opening area of the third directional valve 41, that is, the flow rate through the third directional valve 41.
In some embodiments, a first oil port of the third direction valve 41 is connected to the oil path between the energy recovery valve 3 and the energy storage device 300, a second oil port of the third direction valve 41 is connected to the second check valve 42, the third direction valve 41 is at the first station, the first oil port and the second oil port of the third direction valve 41 are disconnected, the third direction valve 41 is at the second station, the first oil port and the second oil port of the third direction valve 41 are communicated, the first oil port of the third direction valve 41 is an oil inlet, and the second oil port is an oil outlet.
In some embodiments, the first direction valve 2 includes a first position, a second position, a third position, a first control end and a second control end, the first control end is configured to control the first direction valve 2 to be in the first position, the second control end is configured to control the first direction valve 2 to be in the second position, the first direction valve 2 is configured to enable the oil in the first oil path 11 to enter the rodless chamber 202 in the first position, enable the oil in the first oil path 11 to enter the rod chamber 201 in the second position, and disconnect the first oil path 11 in the third position.
The first reversing valve 2 comprises an oil inlet, an oil return port, a first oil port and a second oil port, the oil inlet of the first reversing valve 2 is connected to the first pump 400, the oil return port is connected to the oil tank 100, the first oil port of the first reversing valve 2 is connected to the rodless cavity 202, and the second oil port is connected to the rod cavity 201. The first reversing valve 2 is arranged at a first station, the oil inlet is communicated with the first oil port, and the second oil port is communicated with the oil return port. The first reversing valve 2 is arranged at the second station, the oil inlet is communicated with the second oil port, and the first oil port is communicated with the oil return port. The first reversing valve 2 is arranged at the third station, and the oil inlet, the oil return opening, the first oil port and the second oil port are all cut off.
In some embodiments, the boom operation control system further includes a fifth oil passage 15 and a first pressure sensor 81.
The fifth oil passage 15 connects the oil tank 100 and the second control end of the first directional valve 2. The first pressure sensor 81 is provided in the fifth oil passage 15, and the first pressure sensor 81 is configured to detect the oil pressure in the fifth oil passage 15 and to issue a signal for controlling the opening areas of the energy recovery valve 3 and the regeneration valve 4 when the oil pressure in the fifth oil passage 15 reaches a set value.
In the energy recovery mode, when the boom is operated to descend, the controller controls the output pressure of the proportional pressure reducing valve 5 according to the pilot pressure value detected by the first pressure sensor 81, and further controls the opening areas of the energy recovery valve 3 and the regeneration valve 4, so that the oil in the rodless cavity 202 of the oil cylinder 200 passes through the energy recovery valve 3, and the flow rate of the oil passing through the second direction valve 32 is controlled under the combined action of the pressure difference generated by the inlet and the outlet of the second direction valve 32 and the spring force set by the pressure compensation valve 31.
In some embodiments, the oil pressure in the fifth oil path 15 is controlled by operating the pilot handle, that is, the pilot pressure is controlled, the oil pressure in the fifth oil path 15 is different due to the angle at which the pilot handle is operated by the driver, the boom-lowering regeneration flow rate is increased as the pilot pressure is increased, the boom-lowering speed can be linearly controlled according to the pilot pressure, the linear conversion between the boom-lowering angle and the opening angle of the pilot handle is realized, and the boom-lowering controllability and the working efficiency are improved.
In some embodiments, the fourth oil passage 14 connects the oil tank 100, the control end of the energy recovery valve 3, and the control end of the regeneration valve 4. The proportional pressure reducing valve 5 allows the oil in the fourth oil passage 14 to enter the control end of the energy recovery valve 3 and the control end of the regeneration valve 4 in an open state, and the proportional pressure reducing valve 5 adjusts the oil pressure of the fourth oil passage 14 according to the magnitude of the pressure signal from the first pressure sensor 81, thereby adjusting the opening areas of the energy recovery valve 3 and the regeneration valve 4.
In some embodiments, the boom operation control system further includes a second holding valve 7, and the second holding valve 7 includes a third check valve 71 and a second latch valve 72.
The third check valve 71 is arranged on an oil path between the first reversing valve 2 and the rodless cavity 202, an oil inlet of the third check valve 71 is connected to the first reversing valve 2, and a first oil outlet of the third check valve 71 is connected to the rodless cavity 202.
A first oil port of the second locking valve 72 is connected to a second oil outlet of the third one-way valve 71, and a second oil port of the second locking valve 72 is connected to a control end of the third one-way valve 71; the second latch valve 72 includes a first station and a second station.
The second latch valve 72 is configured to control the control end of the third check valve 71 in the first position to block the oil at the first oil outlet of the third check valve 71 from flowing to the oil inlet of the third check valve 71.
The second latch valve 72 is configured to control the control end of the third check valve 71 in the second position to allow oil at the second oil outlet of the third check valve 71 to flow to the oil inlet of the third check valve 71.
When the second locking valve 72 is in the first station, the first oil port and the second oil port of the second locking valve 72 are communicated, when the second locking valve 72 is in the second station, the first oil port and the second oil port of the second locking valve 72 are disconnected, the second oil port of the second locking valve 72 is communicated with the third oil port of the second locking valve 72, and the third oil port of the second locking valve 72 is communicated with the oil tank 100.
Optionally, the second latch valve 72 comprises a reversing valve.
In some embodiments, the boom operation control system further includes a sixth oil passage 16 and an on-off valve 9.
The sixth oil passage 16 is connected to the control end of the second lock valve 72. The on-off valve 9 is provided in the sixth oil passage 16, and the on-off valve 9 is configured to, in an open state, cause the oil in the sixth oil passage 16 to enter the control end of the second lock valve 72 to place the second lock valve 72 in the second position, and, in a closed state, shut off the sixth oil passage 16 to place the second lock valve 72 in the first position. When the boom lowering operation is operated and the energy recovery mode is set, the on-off valve 9 is turned off by power loss, and when the boom lowering operation is operated and the energy recovery mode is not set, the on-off valve 9 is turned on by power.
In some embodiments, the boom operation control system further includes a fifth oil passage 15, and the fifth oil passage 15 connects the oil tank 100 with the second control end of the first direction valve 2; the sixth oil passage 16 is connected to the fifth oil passage 15.
In some embodiments, the proportional pressure reducing valve 5 includes a first proportional pressure reducing valve 51 and a second proportional pressure reducing valve 52.
The first proportional pressure reducing valve 51 is connected to the control end of the energy recovery valve 3. The second proportional pressure reducing valve 52 is connected to the control end of the regeneration valve 4. The opening and opening areas of the regeneration valve 4 and the energy recovery valve 3 are respectively controlled by the first proportional pressure reducing valve 51 and the second proportional pressure reducing valve 52, so that the boom-lowering energy regeneration is better realized, and the boom-lowering operation performance is improved.
In some embodiments, the boom operation control system further includes a second pressure sensor 82 and a third pressure sensor 83.
The second pressure sensor 82 is configured to detect the oil pressure in the rod chamber 201. The third pressure sensor 83 is configured to detect the oil pressure within the rodless chamber 202.
The second proportional pressure reducing valve 52 is configured to regulate the oil pressure flowing to the control end of the regeneration valve 4 according to the oil pressure difference between the oil pressures detected by the second pressure sensor 82 and the third pressure sensor 83.
The outlet oil pressure of the second proportional pressure reducing valve 52 is adjusted by the pressure difference between the oil pressures detected by the second pressure sensor 82 and the third pressure sensor 83, so that the opening area of the regeneration valve 4 is adjusted, the oil supplement amount of the rod cavity 201 of the control oil cylinder 200 is controlled, and the better operation performance of boom lowering can be realized.
In some embodiments, the boom operation control system further includes a first pump 400, and the first pump 400 is provided in the first oil passage 11 and configured to supply power to allow oil in the oil tank 100 to enter the first oil passage 11.
Optionally, the first pump 400 comprises a constant power hydraulic variable displacement pump.
In some embodiments, the boom operation control system further includes a second pump 500, the second pump 500 being provided in the fourth oil passage 14 and configured to supply power to allow the oil in the oil tank 100 to enter the fourth oil passage 14, the second pump 500 being a pilot pump.
In some embodiments, the boom operation control system further includes a fourth check valve 10, the fourth check valve 10 is disposed in an oil path between the energy recovery valve 3 and the energy storage device 300, an oil inlet of the fourth check valve 10 is connected to the energy recovery valve 3, and an oil outlet of the fourth check valve 10 is connected to the energy storage device 300.
In some embodiments, the boom operation control system further includes a control valve and actuator 600, and the control valve and actuator 600 is connected to the oil path between the fourth check valve 10 and the energy storage device 300 through the oil path, that is, oil flowing out of the oil outlet of the fourth check valve 10 enters the energy storage device 300 and the control valve and actuator 600 respectively.
Based on the above embodiments, three specific embodiments of the boom operation control system will be described in detail below with reference to fig. 1 to 3.
The first embodiment: as shown in fig. 1, an oil inlet of the first pump 400 is connected with the oil tank 100, and an oil outlet of the first pump 400 is connected with an oil inlet of the first directional valve 2; the oil return port of the first direction valve 2 is connected to the oil tank 100. The first oil port of the first reversing valve 2 is connected with the oil inlet of the third one-way valve 71, and the second oil port of the first reversing valve 2 is connected with the rod cavity 201 of the oil cylinder 200.
A first oil outlet of the third one-way valve 71 is connected with a rodless cavity 202 of the oil cylinder 200, and a second oil outlet of the third one-way valve 71 is connected with a first oil port of the second locking valve 72; a second oil port of the second locking valve 72 is connected with a spring control end of the third one-way valve 71, and a control end of the second locking valve 72 is connected with a second oil port of the switch valve 9; the first port of the on-off valve 9 is connected to a boom-down pilot oil passage (fifth oil passage 15). The boom-down pilot oil passage is also connected to the second control port XBb of the first direction valve 2. The first pressure sensor 81 is provided in the fifth oil passage 15.
A rodless cavity 202 of the oil cylinder 200 is connected with a first oil outlet of the first one-way valve 61 and is also connected with a first oil outlet of the third one-way valve 71; a second oil outlet of the first check valve 61 is connected with a first oil port of the first lock valve 62; a second oil port of the first locking valve 62 is connected with a spring control end of the first check valve 61, and a control end of the first locking valve 62 is connected with an oil outlet of the proportional pressure reducing valve 5; the oil inlet of the first one-way valve 61 is connected with the oil inlet of the pressure compensation valve 31; an oil outlet of the pressure compensation valve 31 is connected with a first oil port of the second reversing valve 32; a second oil port of the second reversing valve 32 is connected with an oil inlet of the fourth check valve 10 and is connected with a first oil port of the third reversing valve 41; the oil outlet of the fourth check valve 10 is connected with the energy storage device 300 and is also connected with the control valve and the actuator 600.
A second oil port of the third reversing valve 41 is connected with an oil inlet of the second one-way valve 42; the oil outlet of the second check valve 42 is connected with the rod chamber 201 of the oil cylinder 200.
An oil outlet of the second pump 500 is connected with an oil inlet of the proportional pressure reducing valve 5; the oil outlet of the proportional pressure reducing valve 5 is connected with the control end of the second reversing valve 32, the control end of the first locking valve 62 and the control end of the third reversing valve 41.
The working principle of the first embodiment is as follows:
when the boom lowering is not operated, the output pressure signal of the first pressure sensor 81 is 0, and the proportional pressure reducing valve 5 is closed in a power-off state.
When the movable arm is operated to ascend, the switch valve 9 is powered off, the first control end XAb of the first reversing valve 2 is filled with pilot oil, the first reversing valve 2 is reversed to be positioned at a first station under the action of pilot pressure, the first pump 400 provides power, oil in the oil tank 100 enters the rodless cavity 202 of the oil cylinder 200 through the first reversing valve 2 and the third one-way valve 71, and oil in the rod cavity 201 of the oil cylinder 200 returns through the first reversing valve 2.
When the boom lowering operation is operated and the energy recovery mode is performed, the on-off valve 9 is turned off by power loss. The boom descending pilot oil, that is, the oil in the fifth oil path 15 enters the second control end XBb of the first directional valve 2 to build pressure, so as to push the first directional valve 2 to be at the second station in a reversing manner, the first pressure sensor 81 outputs a pressure signal to the controller, and the controller controls the control current value of the proportional pressure reducing valve 5 according to the input pressure signal, so that the proportional pressure reducing valve 5 outputs corresponding pressure, and the first locking valve 62, the second directional valve 32 and the third directional valve 41 are pushed to be opened in a reversing manner.
The first pump 400 provides power to enable oil in the oil tank 100 to enter the rod cavity 201 of the oil cylinder 200 through the first reversing valve 2, oil in the rodless cavity 202 of the oil cylinder 200 passes through the first check valve 61, the pressure compensation valve 31 and the second reversing valve 32 to be output, a part of the oil output by the second reversing valve 32 enters the energy storage device 300 through the fourth check valve 10 to be recycled, and a part of the oil enters the rod cavity 201 of the oil cylinder 200 through the third reversing valve 41 and the second check valve 42 to prevent the rod cavity 201 from being sucked empty, so that the movable arm is controlled to descend stably.
Since the pressure difference generated at the inlet and the outlet of the second direction valve 32 is equal to the spring force set by the pressure compensation valve 31 (adjustable pressure reducing valve), the magnitude of the spring force is basically constant, i.e. the pressure difference at the inlet and the outlet of the second direction valve 32 is basically constant, so that the flow rate passing through the second direction valve 32 is proportional to the opening area of the second direction valve 32. Thus, as the pilot pressure increases, the amount of oil returned from the rodless chamber 202 of the cylinder 200 increases, the regeneration flow rate increases, and the boom lowering speed changes linearly with the change in the pilot pressure.
In addition, since the switching pressure set by the third switching valve 41 is higher than the switching pressures set by the first and second lock valves 62 and 32, the lowering potential energy can be recovered as much as possible before the third switching valve 41 is not opened.
Second embodiment: as shown in fig. 2, the second embodiment is different from the first embodiment in that: on the basis of the first embodiment, a second pressure sensor 82 and a third pressure sensor 83 are provided, the second pressure sensor 82 being configured to detect the oil pressure in the rod chamber 201. The third pressure sensor 83 is configured to detect the oil pressure in the rodless chamber 202, and set the proportional pressure reducing valve 5 as the first proportional pressure reducing valve 51 and the second proportional pressure reducing valve 52, the first proportional pressure reducing valve 51 being connected to the control end of the second direction changing valve 32. The second proportional pressure reducing valve 52 is connected to the control end of the third direction changing valve 41.
The pressure in the fifth oil passage 15 detected by the first pressure sensor 81 is used to control the opening and opening area of the first proportional pressure reducing valve 51. The pressure difference between the pressures in the rod chamber 201 and the rod-less chamber 202 detected by the second pressure sensor 82 and the third pressure sensor 83 is used to control the opening and opening area of the second proportional pressure reducing valve 52. The second reversing valve 32 is controlled by the first proportional pressure reducing valve 51, and the third reversing valve 41 is controlled by the second proportional pressure reducing valve 52, so that the oil supplement of the rod cavity 201 of the oil cylinder 200 can be better controlled, and the better control performance of boom descending can be realized.
The third embodiment: as shown in fig. 3, the third embodiment is different from the second embodiment in that: a pressure compensating valve 31 is provided at the delivery end of the second directional valve 32, the pressure compensating valve 31 providing post-valve pressure compensation.
Some embodiments also provide an excavator including a boom and the above-described boom operation control system configured to operatively control the boom to ascend or descend.
Based on the embodiments of the invention described above, the technical features of one of the embodiments can be advantageously combined with one or more other embodiments without explicit negatives.
In the description of the present invention, it should be understood that the terms "first", "second", "third", etc. are used to define the components, and are used only for the convenience of distinguishing the components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (16)
1. A boom operation control system, characterized by comprising:
a fuel tank (100);
the oil cylinder (200) comprises a rod cavity (201) and a rodless cavity (202);
an energy storage device (300);
a first oil passage (11) connecting the oil tank (100) and the oil cylinder (200);
a first direction change valve (2) provided in the first oil passage (11), the first direction change valve (2) being configured to operatively cause oil in the first oil passage (11) to enter the rod chamber (201) or the rodless chamber (202);
a second oil passage (12) connecting the rodless chamber (202) and the energy storage device (300);
an energy recovery valve (3) provided in the second oil passage (12), the energy recovery valve (3) being configured to cause the oil in the second oil passage (12) to enter the accumulator (300) in an open state;
a third oil path (13) connecting the rod chamber (201) and an oil path between the energy recovery valve (3) and an energy storage device (300); and
a regeneration valve (4) provided in the third oil passage (13), the regeneration valve (4) being configured to cause a part of the oil in the third oil passage (13) to enter the rod chamber (201) in an open state;
the opening pressure of the regeneration valve (4) is greater than the opening pressure of the energy recovery valve (3).
2. The boom operation control system according to claim 1, further comprising:
a fourth oil passage (14) connecting the oil tank (100), the control end of the energy recovery valve (3), and the control end of the regeneration valve (4); and
and a proportional pressure reducing valve (5) provided in the fourth oil passage (14), wherein the proportional pressure reducing valve (5) is configured to allow the oil in the fourth oil passage (14) to enter a control end of the energy recovery valve (3) and a control end of the regeneration valve (4) in an open state, and to adjust the oil pressure in the fourth oil passage (14).
3. The boom operation control system according to claim 1, wherein the energy recovery valve (3) includes:
a pressure compensation valve (31), an oil inlet of the pressure compensation valve (31) is connected to the rodless cavity (202); and
the second reversing valve (32) comprises a first station and a second station, a first oil port of the second reversing valve (32) is connected to an oil outlet of the pressure compensation valve (31), a second oil port of the second reversing valve (32) is respectively connected to the energy storage device (300) and the third oil path (13), the first oil port of the second reversing valve (32) is communicated with the second oil port when the second reversing valve is arranged at the first station, and the first oil port of the second reversing valve is disconnected with the second oil port when the second station is arranged.
4. The boom operation control system according to claim 1, wherein the energy recovery valve (3) includes:
an oil outlet of the pressure compensation valve (31) is connected to the energy storage device (300) and the third oil path (13) respectively; and
the second reversing valve (32) comprises a first station and a second station, a first oil port of the second reversing valve (32) is connected to the rodless cavity (202), a first oil port of the second reversing valve (32) is connected to an oil inlet of the pressure compensation valve (31), the second reversing valve (32) is configured to be communicated with a second oil port of the first reversing valve in the first station, and disconnected with the second oil port of the second reversing valve in the second station.
5. The boom operation control system according to claim 1, further comprising:
the first check valve (61) is arranged on the second oil path (12), an oil inlet of the first check valve (61) is connected to the energy recovery valve (3), and a first oil outlet of the first check valve (61) is connected to the rodless cavity (202); and
a first lock valve (62), a first oil port of the first lock valve (62) is connected to a second oil outlet of the first check valve (61), a second oil port of the first lock valve (62) is connected to a control end of the first check valve (61), the first lock valve (62) comprises a first station and a second station, the first lock valve (62) is configured to control the control end of the first check valve (61) in the first station to block oil at the first oil outlet of the first check valve (61) from flowing to an oil inlet of the first check valve (61), and the first lock valve (62) is configured to control the control end of the first check valve (61) in the second station to enable oil at the first oil outlet of the first check valve (61) to flow to the oil inlet of the first check valve (61).
6. The boom operation control system according to claim 5, further comprising:
a fourth oil passage (14) connecting the oil tank (100), the control end of the energy recovery valve (3), the control end of the regeneration valve (4), and the control end of the first lock valve (62); and
a proportional pressure reducing valve (5) provided in the fourth oil passage (14), the proportional pressure reducing valve (5) being configured to let the oil of the fourth oil passage (14) enter a control end of the energy recovery valve (3), a control end of the regeneration valve (4), and a control end of the first lock valve (62) in an open state for opening the energy recovery valve (3) and the regeneration valve (4), and for putting the first lock valve (62) in a second position; the proportional pressure reducing valve (5) is also configured to adjust an oil pressure of the fourth oil passage (14).
7. The boom operation control system according to claim 1, wherein the regeneration valve (4) includes:
the third reversing valve (41) comprises a first station, a second station and a control end, the control end is configured to control the third reversing valve (41) to be in the second station, the third reversing valve (41) is in the first station, the third oil path (13) is disconnected, the third reversing valve (41) is in the second station, and the third oil path (13) is communicated; and
an oil inlet of the second one-way valve (42) is connected to the third reversing valve (41), and an oil outlet of the second one-way valve (42) is connected to the rod cavity (201).
8. The boom operation control system according to claim 1, wherein the first direction change valve (2) includes a first station, a second station, a third station, a first control end and a second control end, the first control end is configured to control the first direction change valve (2) to be in the first station, the second control end is configured to control the first direction change valve (2) to be in the second station, the first direction change valve (2) is configured to make the oil in the first oil passage (11) enter the rodless chamber (202) in the first station, make the oil in the first oil passage (11) enter the rod chamber (201) in the second station, and break the first oil passage (11) in the third station.
9. The boom operation control system of claim 8, further comprising:
a fifth oil path (15) connecting the oil tank (100) and the second control end of the first directional valve (2); and
a first pressure sensor (81) provided in the fifth oil passage (15), the first pressure sensor (81) being configured to detect an oil pressure in the fifth oil passage (15), and to issue a signal for controlling opening areas of the energy recovery valve (3) and the regeneration valve (4) when the oil pressure in the fifth oil passage (15) reaches a set value.
10. The boom operation control system of claim 9, further comprising:
a fourth oil passage (14) connecting the oil tank (100), the control end of the energy recovery valve (3), and the control end of the regeneration valve (4); and
and the proportional pressure reducing valve (5) is arranged on the fourth oil path (14), the proportional pressure reducing valve (5) is configured to enable the oil of the fourth oil path (14) to enter the control end of the energy recovery valve (3) and the control end of the regeneration valve (4) in an opening state, and the proportional pressure reducing valve (5) is further configured to adjust the oil pressure of the fourth oil path (14) according to the magnitude of a pressure signal sent by a first pressure sensor (81).
11. The boom operation control system of claim 8, further comprising:
the third check valve (71) is arranged in an oil path between the first reversing valve (2) and the rodless cavity (202), an oil inlet of the third check valve (71) is connected to the first reversing valve (2), and a first oil outlet of the third check valve (71) is connected to the rodless cavity (202); and
a first oil port of the second lock valve (72) is connected to a second oil outlet of the third one-way valve (71), and a second oil port of the second lock valve (72) is connected to a control end of the third one-way valve (71); the second locking valve (72) comprises a first station and a second station, the second locking valve (72) is configured to control the control end of the third one-way valve (71) to block oil at the first oil outlet of the third one-way valve (71) from flowing to the oil inlet of the third one-way valve (71) in the first station, and the second locking valve (72) is configured to control the control end of the third one-way valve (71) to enable oil at the second oil outlet of the third one-way valve (71) to flow to the oil inlet of the third one-way valve (71) in the second station.
12. The boom operation control system according to claim 11, further comprising:
a sixth oil passage (16) connected to a control end of the second lock valve (72); and
and the switching valve (9) is arranged on the sixth oil path (16), the switching valve (9) is configured to enable the oil in the sixth oil path (16) to enter the control end of the second locking valve (72) in an opening state so as to enable the second locking valve (72) to be in the second working position, and the switching valve (9) is configured to disconnect the sixth oil path (16) so as to enable the second locking valve (72) to be in the first working position in a closing state.
13. The boom operation control system according to claim 12, further comprising a fifth oil passage (15), the fifth oil passage (15) connecting the oil tank (100) with the second control end of the first directional valve (2); the sixth oil passage (16) is connected to the fifth oil passage (15).
14. The boom operation control system according to claim 2, wherein the proportional pressure reducing valve (5) includes:
a first proportional pressure reducing valve (51) connected to a control end of the energy recovery valve (3); and
a second proportional pressure reducing valve (52) connected to the control end of the regeneration valve (4).
15. The boom operation control system of claim 14, further comprising:
a second pressure sensor (82) configured to detect an oil pressure within the rod chamber (201); and
a third pressure sensor (83) configured to detect an oil pressure within the rodless chamber (202);
wherein the second proportional pressure reducing valve (52) is configured to regulate an oil pressure flowing to a control end of the regeneration valve (4) according to an oil pressure difference of the oil pressures detected by the second pressure sensor (82) and the third pressure sensor (83).
16. An excavator comprising a boom and the boom operation control system according to any one of claims 1 to 15, the boom operation control system being configured to operatively control raising or lowering of the boom.
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| CN202110459645.1A CN113250270B (en) | 2021-04-27 | 2021-04-27 | Swing arm operation control system and excavator |
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| CN202110459645.1A CN113250270B (en) | 2021-04-27 | 2021-04-27 | Swing arm operation control system and excavator |
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| CN113250270B true CN113250270B (en) | 2021-10-08 |
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| CN113789824B (en) * | 2021-09-14 | 2022-08-30 | 江苏汇智高端工程机械创新中心有限公司 | Excavator bucket rod speed-increasing hydraulic system |
| CN115853838A (en) * | 2022-11-30 | 2023-03-28 | 上海三一重机股份有限公司 | Hydraulic control system and working machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6748738B2 (en) * | 2002-05-17 | 2004-06-15 | Caterpillar Inc. | Hydraulic regeneration system |
| JP4871843B2 (en) * | 2007-11-19 | 2012-02-08 | 住友建機株式会社 | Boom drive circuit for construction machinery |
| CN102888876A (en) * | 2012-10-31 | 2013-01-23 | 三一重机有限公司 | Energy regeneration structure of excavator and excavator |
| US10988915B2 (en) * | 2017-04-10 | 2021-04-27 | Doosan Infracore Co., Ltd. | Hydraulic system of construction machinery |
| DE112018004495T5 (en) * | 2017-10-13 | 2020-10-08 | Doosan lnfracore Co., Ltd | HYDRAULIC SYSTEM FOR INCREASING THE WORKING SPEED OF A CONSTRUCTION MACHINE BOOM |
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