CN113738719A - Large steel grabbing machine rotary movable arm composite action hydraulic energy-saving system and method thereof - Google Patents
Large steel grabbing machine rotary movable arm composite action hydraulic energy-saving system and method thereof Download PDFInfo
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- CN113738719A CN113738719A CN202111310491.6A CN202111310491A CN113738719A CN 113738719 A CN113738719 A CN 113738719A CN 202111310491 A CN202111310491 A CN 202111310491A CN 113738719 A CN113738719 A CN 113738719A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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Abstract
The invention discloses a composite action hydraulic energy-saving system of a rotary movable arm of a large steel grabbing machine, which comprises a main pump, a controller, a first rotary system, a second rotary system, a composite action energy recovery system and a movable arm system, wherein the main pump is connected with the controller; the main pump is respectively connected with the first rotary system and the composite action energy recovery system through pipelines, the first rotary system is connected with the second rotary system through the boarding rotary mechanism, the second rotary system is connected with the composite action energy recovery system, and the composite action energy recovery system is connected with the movable arm system; the first rotary system comprises a second rotary motor arranged on the pipeline, a first three-position three-way reversing valve and a second three-position three-way reversing valve. The combined action hydraulic energy-saving system adopts the matched operation of the combined action energy recovery system, the first rotation system and the second rotation system, effectively improves the operation efficiency, recovers energy to the maximum extent, realizes reutilization, and fully increases the utilization rate of the energy of the combined action hydraulic energy-saving system.
Description
Technical Field
The invention relates to the technical field of hydraulic energy conservation, in particular to a composite action hydraulic energy-saving system for a rotary movable arm of a large steel grabbing machine.
Background
With the rapid development of society and economy in China, the engineering machinery industry has huge development, the variety and the number of the engineering machinery are increased rapidly, the emission of a large amount of pollutants and greenhouse gases is caused, and the increasingly serious problems of energy shortage and environmental pollution are further aggravated. As a typical engineering machine, the steel grabbing machine is necessary to carry out energy-saving research on the steel grabbing machine.
For a hydraulic excavator of similar engineering machinery, a rotary energy-saving system of the hydraulic excavator is based on the energy lost by braking and overflowing of a recovery rotary table in the rotary process, and the ECU controls the single acquisition pressure sensor assembly to feed back signals, controls the on-off of a valve assembly, controls the actions of an energy accumulator, a variable pump, a rotary motor and other components, and realizes the recovery of the energy. For a movable arm hydraulic system, in the process of lowering the mechanical arm, a large amount of hydraulic energy can be released in a short time, and energy recovery mainly comprises two modes, wherein one mode is to use a capacitor or a storage battery as a main energy storage element, and the other mode is to use a hydraulic energy accumulator as a main energy storage element.
The operation of the hydraulic steel grabbing machine is periodic, the rotary table rotates forwards and backwards once respectively in one operation cycle, and the movable arm lifts and descends once respectively. In the process, the energy consumption of the movable arm and the rotation action is high, and more energy can be recovered, but most of the hydraulic steel grabbing machines in the current market lack an energy recovery link or only realize the recovery of the movable arm or the rotation single action, and the energy recovery under the composite action is less considered, so that the energy utilization rate is low.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a hydraulic energy-saving system for the composite action of a rotary movable arm of a large steel grabbing machine, which solves the problem that the energy recovery of the existing steel grabbing machine under the composite action is not recovered.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
on one hand, the scheme provides a composite action hydraulic energy-saving system for a rotary movable arm of a large steel grabbing machine, which comprises a main pump, a controller, a first rotary system, a second rotary system, a composite action energy recovery system and a movable arm system;
the main pump is respectively connected with the first rotary system and the composite action energy recovery system through pipelines, the first rotary system is connected with the second rotary system through the boarding rotary mechanism, the second rotary system is connected with the composite action energy recovery system, and the composite action energy recovery system is connected with the movable arm system.
Further, the first rotary system comprises a second rotary motor, a third overflow valve, a fourth overflow valve, a seventh one-way valve, an eighth one-way valve, a second three-position three-way reversing valve and a third three-position three-way reversing valve which are arranged on the pipeline; the inlet ends of the second three-position three-way reversing valve and the third three-position three-way reversing valve are connected with the main pump through pipelines, and the outlet ends of the second three-position three-way reversing valve and the third three-position three-way reversing valve are connected with the second rotary motor; the second rotary motor is communicated with the upper turning mechanism; the inlet end of the third three-position three-way reversing valve is communicated with a fifth overflow valve through a pipeline, and a two-position one-way reversing valve is arranged between the second three-position three-way reversing valve and an outlet end pipeline of the third three-position three-way reversing valve; the second three-position three-way reversing valve and the third three-position three-way reversing valve are both electrically connected with the controller.
Further, the second rotary system comprises a first rotary motor, a first overflow valve, a second overflow valve, a fifth check valve and a sixth check valve which are arranged on the pipeline; the first rotary motor is communicated with the upper turning mechanism; a second three-position four-way reversing valve and a second two-position two-way reversing valve are respectively arranged on a pipeline connecting the second rotary system and the composite action energy recovery system; the second three-position four-way reversing valve and the two-position two-way reversing valve are communicated with the outlet end of the two-position three-way reversing valve through a pipeline; the second three-position four-way reversing valve and the two-position two-way reversing valve are in signal connection with the controller.
Further, the compound action energy recovery system comprises a motor mounted on the pipeline; the motor is communicated with a hydraulic variable pump, the hydraulic variable pump is communicated with the inlet end of a two-position three-way reversing valve, and the outlet end of the two-position three-way reversing valve is respectively connected with a second pressure sensor, a hydraulic energy accumulator and a third pressure sensor through pipelines; the second pressure sensor is communicated with the main pump; one end of the motor is respectively communicated with the fourth one-way valve, the first pressure sensor, the flow sensor, the main pump and the electromagnetic control valve through pipelines; a third one-way valve is arranged on a pipeline for communicating the motor with the main pump; the hydraulic variable pump, the second pressure sensor and the electromagnetic control valve are in signal connection with the controller.
Furthermore, the movable arm system comprises a first three-position three-way reversing valve, a first three-position four-way reversing valve, a plurality of movable arm hydraulic cylinders and a plurality of stroke sensors which are sequentially connected through pipelines; the plurality of movable arm hydraulic cylinders are communicated through pipelines; a stroke sensor is arranged on the movable arm hydraulic cylinder; the first three-position four-way reversing valve is respectively communicated with the pipelines arranged among the plurality of movable arm hydraulic cylinders through pipelines; the first three-position four-way reversing valve is communicated with the motor through a pipeline; the first three-position three-way reversing valve is respectively communicated with the motor and an outlet end pipeline of the two-position three-way reversing valve; the first three-position three-way reversing valve, the first three-position four-way reversing valve and the plurality of stroke sensors are electrically connected with the controller.
Furthermore, the main pump is communicated with a transfer case, and the transfer case is respectively connected with the motor and the engine; the electric motor is electrically connected with the super capacitor and the alternating current generator in turn, and the alternating current generator is connected with the motor through a pipeline.
On the other hand, the scheme also provides a method for the composite action hydraulic energy-saving system of the rotary movable arm of the large steel grabbing machine, which specifically comprises the composite movement of the primary lifting of the movable arm and the rotary positive rotation:
s1, the engine drives the main pump to pump oil out and the oil flows through the first three-position four-way reversing valve;
s2, controlling the lower position operation of the first three-position four-way reversing valve by the controller;
s3, enabling oil to enter a movable arm rodless cavity;
s4, enabling the oil to flow into the three-position three-way reversing valve through the oil in the rod cavity through the first three-position four-way reversing valve;
s5, performing lower operation on the three-position three-way reversing valve under the action of the controller;
s6, enabling hydraulic oil to enter an energy accumulator;
s7, driving a main pump by an engine to pump oil out and flowing through a three-position three-way reversing valve;
s8, controlling the right operation of the three-position three-way reversing valve by the controller;
s9, driving a motor in the first rotary system and the boarding rotary mechanism to rotate by the oil liquid;
s10, passing the oil through a left oil return tank of the three-position three-way reversing valve;
s11, performing lower operation on the two-position one-way reversing valve;
s12, driving a motor in the second rotary system to rotate by the boarding rotary mechanism;
and S13, oil flows into the fifth check valve and the sixth check valve from the oil tank to supplement oil for the motor.
Further, a method for a large steel grabbing machine to rotate a movable arm composite action hydraulic energy-saving system specifically comprises a movable arm holding and rotation braking method:
a1, the controller controls the variable pump to stop supplying oil;
a2, operating the first three-position four-way reversing valve at the middle position, and keeping the movable arm moving;
a3, braking the boarding swing mechanism;
a4, decelerating the motor in the second rotary system;
a5, recovering oil through the left position of a second three-position four-way reversing valve and the lower position of a two-position one-way reversing valve, and enabling the oil to enter an energy accumulator;
a6, the fourth pressure sensor detects that the pressure is constant;
a7, the controller sends out a signal to operate the right position of the two-position one-way reversing valve;
a8, braking the boarding swing mechanism;
a9, motor deceleration in the first rotary system;
a10, enabling oil to flow through a two-position one-way reversing valve to be on;
a11, the fourth pressure sensor detects the pressure increase;
a12, the controller sends out signals to operate the three-position three-way reversing valve at the left position;
a13, the oil flows into the oil tank.
Further, a method for a large steel grabbing machine to rotate a movable arm composite action hydraulic energy-saving system specifically comprises a composite movement method of movable arm descending and rotation reversing:
b1, driving a main pump by the engine to pump oil;
b2, driving a motor in the first rotary system by the right position of the three-position three-way reversing valve;
b3, the oil flows through a left oil return tank of the three-position three-way reversing valve;
b4, the first three-position four-way reversing valve works in the middle position, and the movable arm keeps moving;
b5, the turning mechanism of the upper vehicle is close to the turning starting point, and the engine drives the main pump to pump oil;
b6, flowing through a first three-position four-way reversing valve;
b7, the first three-position four-way reversing valve works in an upper position under the action of the controller;
b8, oil enters a movable arm rod cavity, and the movable arm descends;
b9, detecting the stroke data of the cylinder by a boom cylinder stroke sensor and transmitting the data to the controller;
b10, starting the composite action energy recovery system;
b11, passing the oil in the movable arm rodless cavity through a three-position four-way reversing valve;
b12, flowing into the first three-position three-way reversing valve to be up, and driving the motor;
b13, driving the variable pump by the motor;
b14, pumping oil out of the variable pump, and enabling the oil to enter the energy accumulator through the two-position two-way reversing valve and the second one-way valve;
b15, driving the alternator by the rotation of the motor;
b16, the super capacitor stores electric energy.
Further, a method for a large steel grabbing machine to rotate a movable arm composite action hydraulic energy-saving system specifically comprises a movable arm lifting and rotating forward composite motion method:
c1, lifting the movable arm again, and enabling oil liquid in the energy accumulator to pass through a three-position three-way reversing valve;
c2, neutral operation of the three-position three-way reversing valve;
c3, driving the motor to rotate;
c4, motor driving variable pump;
c5, passing the oil pumped by the variable pump through a two-position two-way reversing valve and a first one-way valve;
c6, the two-position two-way reversing valve and the first check valve are in the lower position and enter the outlet of the main pump;
c7, the first pressure sensor transmits the detected flow signal to the controller;
c8, when the expansion and contraction speed of the piston rod of the movable arm hydraulic cylinder with overlarge flow exceeds a set value, the controller sends an instruction to increase the swash plate swing angle of the variable pump;
c9, driving the alternator by the rotation of the motor;
c10, super capacitor stores electric energy.
The invention provides a composite action hydraulic energy-saving system of a rotary movable arm of a large steel grabbing machine, which has the following beneficial effects:
the combined action hydraulic energy-saving system adopts the matched operation of the combined action energy recovery system, the first rotation system and the second rotation system, effectively improves the operation efficiency, recovers energy to the maximum extent, realizes reutilization, and fully increases the utilization rate of the energy of the combined action hydraulic energy-saving system.
Drawings
FIG. 1 is an overall scheme front view of a large steel grabbing machine rotary movable arm compound action hydraulic energy-saving system.
Wherein, 1, a main pump; 2. a transfer case; 3. an electric motor; 4. an engine; 5. a super capacitor; 6. an alternator; 7. a motor; 8. a hydraulic variable displacement pump; 9. a two-position three-way reversing valve; 10. a first check valve; 11. an electromagnetic control valve; 12. a second one-way valve; 13. a hydraulic accumulator; 14. a first three-position three-way reversing valve; 15. a first three-position four-way reversing valve; 16. a boom cylinder; 17. a first pressure sensor; 18. a flow sensor; 19. a second pressure sensor; 20. a third pressure sensor; 21. a controller; 22. a travel sensor; 23. a third check valve; 24. a fourth check valve; 25. a fourth pressure sensor; 26. a two-position two-way directional valve; 27. a second three-position four-way reversing valve; 28. a fifth check valve; 29. a sixth check valve; 30. a first overflow valve; 31. a second overflow valve; 32. a first rotary motor; 33. a loading swing mechanism; 34. a second rotary motor; 35. a third overflow valve; 36. a fourth spill valve; 37. a seventh check valve; 38. an eighth check valve; 39. a two-position one-way reversing valve; 40. a fifth pressure sensor; 41. a sixth pressure sensor; 42. a second three-position three-way reversing valve; 43. a third three-position three-way reversing valve; 44. and a fifth overflow valve.
Detailed Description
The embodiments of the present invention are described so as to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
According to the first embodiment of the application, referring to fig. 1, the hydraulic energy-saving system for the swing boom of the large steel grasping machine of the embodiment includes:
the system comprises a main pump 1, a controller 21, an electromagnetic control valve 11, a first rotation system, a second rotation system, a composite action energy recovery system and an arm moving system.
Specifically, the main pump 1 is connected to a first swing system and a combined action energy recovery system through pipes, the first swing system is connected to a second swing system through a loading swing mechanism 33, the second swing system is connected to the combined action energy recovery system through pipes, and the combined action energy recovery system is connected to a boom system.
The first rotary system comprises a second rotary motor 34, a third overflow valve 35, a fourth overflow valve 36, a seventh one-way valve 37, an eighth one-way valve 38, a second three-position three-way reversing valve 42 and a third three-position three-way reversing valve 43 which are arranged on the outer pipeline; the main pump 1 is arranged on inlet end pipelines of a second three-position three-way reversing valve 42 and a third three-position three-way reversing valve 43 through pipelines; the outlet end pipeline of the second three-position three-way reversing valve 42 is connected with a fifth pressure sensor 40 through a pipeline; the inlet end pipeline of the third three-position three-way reversing valve 43 is connected with a fifth overflow valve 44 through a pipeline, the outlet end pipeline of the third three-position three-way reversing valve 43 is connected with a sixth pressure sensor 41 through a pipeline, and the second rotary motor 34 is communicated with the first rotary motor 32 through the boarding rotary mechanism 33.
The two-position one-way reversing valve 39, the fifth pressure sensor 40, the sixth pressure sensor 41, the second three-position three-way reversing valve 42 and the third three-position three-way reversing valve 43 are all electrically connected with the controller 21.
The second rotation system comprises a first rotation motor 32, a first overflow valve 30, a second overflow valve 31, a fifth check valve 28 and a sixth check valve 29 which are arranged on pipelines, and the first rotation motor 32 is communicated with an upper turning mechanism 33.
The second three-position four-way reversing valve 27 is connected with the two-position two-way reversing valve 26 through a pipeline, and the two-position two-way reversing valve 26 is connected with the outlet end of the two-position three-way reversing valve 9 in the composite action energy recovery system through a pipeline; the second three-position four-way selector valve 27 and the two-position two-way selector valve 26 are both in signal communication with the controller 21.
The compound action energy recovery system comprises a motor 7 and a fourth one-way valve 24 which are arranged on the outer pipeline; the motor 7 is connected with a hydraulic variable pump 8 through a pipeline; the hydraulic variable pump 8 is connected with a two-position three-way reversing valve 9 through a pipeline; the outlet end of the two-position three-way reversing valve 9 is respectively connected with a first one-way valve 10, a second pressure sensor 19, a second one-way valve 12, a hydraulic accumulator 13, a third pressure sensor 20 and a fourth pressure sensor 25 through pipelines, and one end of the motor 7 is respectively communicated with a fourth one-way valve 24, a first pressure sensor 17, a flow sensor 18, a main pump 1 and an electromagnetic control valve 11 through pipelines; a third one-way valve 23 is arranged on a pipeline of the motor 7 communicated with the main pump 1; the hydraulic variable pump 8, the second pressure sensor 19 and the electromagnetic control valve 11 are in signal connection with a controller 21.
The first pressure sensor 17 and the flow sensor 18 are connected with an outer pipeline of the compound action energy recovery system through pipelines; the pipe in which the first check valve 10 is located is connected to the third check valve 23 and the main pump 1 through pipes.
The hydraulic variable displacement pump 8, the first pressure sensor 17, the flow sensor 18, the second pressure sensor 19, the third pressure sensor 20 and the fourth pressure sensor 25 are in signal connection with the controller 21.
The movable arm system comprises a first three-position three-way reversing valve 14 and a first three-position four-way reversing valve 15; the outlet end of the first three-position three-way reversing valve 14 is connected with a first three-position four-way reversing valve 15 through a pipeline; the inlet end of the first three-position three-way reversing valve 14 is respectively communicated with the pipeline where the motor 7 and the second one-way valve 12 are located through pipelines.
The inlet end of the first three-position four-way reversing valve 15 is connected with the motor 7 through a pipeline; the electromagnetic control valve 11 is communicated with an inlet end pipeline of the first three-position four-way reversing valve 15 through a pipeline, and the third one-way valve 23 and the main pump 1 are communicated with an inlet end pipeline of the first three-position four-way reversing valve 15 through a pipeline.
The plurality of movable arm hydraulic cylinders 16 are connected through pipelines, the plurality of movable arm hydraulic cylinders 16 are connected with the stroke sensor 22 through pipelines, and the outlet end of the first three-position four-way reversing valve 15 is communicated with the pipelines communicated with the plurality of movable arm hydraulic cylinders 16 through pipelines.
The first three-position three-way reversing valve 14, the first three-position four-way reversing valve 15 and the stroke sensors 22 are electrically connected with the controller 21.
The main pump 1 is connected with the transfer case 2 through a pipeline, the transfer case 2 is respectively connected with the motor 3 and the engine 4 through pipelines, the motor 3 is sequentially electrically connected with the super capacitor 5 and the alternating current generator 6, and the alternating current generator 6 is connected with the motor 7 in the compound action energy recovery system through a pipeline.
The main pump 1 and the super capacitor 5 are both electrically connected with the controller 21.
The working principle of the first embodiment is as follows:
the hydraulic energy-saving system for the rotation of the large steel grabbing machine and the compound action of the movable arm comprises a movable arm part and an upper vehicle rotation part, and when the movable arm descends, the gravitational potential energy is converted into hydraulic energy and electric energy to be stored in a hydraulic energy accumulator 13 and a super capacitor 5 respectively through the action of hydraulic elements and electric elements such as a control valve and the like; when the movable arm rises, the pressure sensor judges that the pump stops supplying oil if the hydraulic energy accumulator 13 can independently supply oil to finish the action, and the electric energy stored in the super capacitor 5 is converted into mechanical energy to drive the pump to supply oil simultaneously if the hydraulic energy accumulator 13 cannot independently supply oil to finish the action. When the movable arm rises to a half, the pump drives the first rotary motor to rotate through a hydraulic element such as a control valve and the like, and the upper vehicle starts to rotate forwards; when the movable arm stops rising and the swing brake is carried out, the kinetic energy and the heat energy lost by getting on the vehicle are converted into hydraulic energy through the second swing system and stored in the hydraulic energy accumulator 13, and at the moment, the first swing system is in no-load. When the pump drives the upper vehicle to reversely rotate, the movable arm begins to descend, and energy is recycled by utilizing the operation principle.
According to the second embodiment of the application, the method for the composite-action hydraulic energy-saving system of the rotary movable arm of the large steel grabbing machine comprises the following steps:
a compound motion method of primary lifting and rotation forward rotation of a movable arm;
a boom holding and swing braking method;
a compound movement method of boom descending and rotation reversal;
a compound motion method of lifting a movable arm and rotating forward.
The following will describe each function in detail, specifically including the following steps:
the compound motion of the primary lifting and the rotation forward rotation of the movable arm specifically comprises the following steps:
s1, the engine 4 drives the main pump 1 to pump oil liquid to flow through the first three-position four-way reversing valve 15, and meanwhile, the first three-position four-way reversing valve 15 works in the lower position under the action of the controller 21;
s2, enabling oil to enter a movable arm rodless cavity, and enabling the movable arm to realize primary lifting;
s3, enabling the oil to flow into the first three-position three-way reversing valve 14 through the rod cavity oil through the first three-position four-way reversing valve 15;
s4, the first three-position three-way reversing valve 14 works in the lower position under the action of the controller 21;
s5, hydraulic oil enters the hydraulic accumulator 13, and the movable arm is low in energy recovery at the stage due to the fact that the hydraulic accumulator is lifted for the first time;
s6, when the movable arm is lifted to the middle position, the engine 4 drives the main pump 1 to pump oil to flow through the second three-position three-way reversing valve 42;
s7, the second three-position three-way reversing valve 42 works in the right position under the action of the controller 21;
s8, the oil drives the second rotary motor 34 in the first rotary system to rotate together with the boarding rotary mechanism 33;
s9, enabling the oil to pass through a left oil return tank of a third three-position three-way reversing valve 43, and enabling the two-position one oil return tank to pass through a reversing valve 39 to perform lower operation at the stage;
s10, at this time, the loading swing mechanism 33 drives the first swing motor 32 in the second swing system to rotate;
and S11, because the second three-position four-way reversing valve 27 is in the middle position, oil flows into the fifth one-way valve 28 from the oil tank to supplement oil for the first rotary motor 32.
The movable arm holding and rotation braking device specifically comprises:
a1, under the action of controller 21, the variable displacement pump 1 stops oil supply;
a2, the first three-position four-way reversing valve 15 works in a middle position, and a movable arm is kept;
a3, at this time, the boarding rotation mechanism 33 starts braking;
a4, decelerating the first swing motor 32 in the second swing system;
a5, recovering oil through the left position of the second three-position four-way reversing valve 27 and the lower position of the two-position two-way reversing valve 26, and enabling the oil to enter the hydraulic accumulator 13;
a6, when the fourth pressure sensor 25 detects that the pressure is constant, the controller 21 gives a signal to make the two-position two-way reversing valve 26 work in the right position;
a7, braking the boarding swing mechanism 33 at the same time, and decelerating the second swing motor 34 in the first swing system;
a8, the oil flows through the two-position one-way reversing valve 39 to operate upwards, and the fifth pressure sensor 40 detects the increase of pressure;
a9, the controller 21 gives a signal to the second three-position three-way reversing valve 42 to operate at the left position, and oil flows into an oil tank;
and A10, the second rotary motor 34 in the first rotary system is unloaded, and overflow loss of the first rotary system in the braking process is completely eliminated.
The compound motion of boom decline and gyration reversal specifically includes:
b1, the engine 4 drives the main pump 1 to pump oil out of the third three-position three-way reversing valve 43 at the right position;
b2, driving the second swing motor 34 in the first swing system, through the left tank of the second three-position three-way directional valve 42;
b3, at the moment, the first three-position four-way reversing valve 15 works in the middle position, and the movable arm keeps;
b4, when the boarding swing mechanism 33 approaches a swing starting point, the engine 4 drives the main pump 1 to pump oil liquid to flow through the first three-position four-way reversing valve 15;
b5, simultaneously, the reversing valve is used for upper operation under the action of the controller 21, and oil enters a movable arm rod cavity;
b6, the boom descends, the boom cylinder stroke sensor 22 detects the cylinder stroke data, and transmits the data to the controller 21;
b7, when the controller 21 determines that there is a large energy loss due to boom lowering, the hybrid operation energy recovery system using the start capacitor or the storage battery as the main energy storage element;
b8, and at the same time, the hydraulic accumulator 13. The oil in the movable arm rodless cavity flows into the first three-position three-way reversing valve 14 through the first three-position four-way reversing valve 15 to be positioned at the upper part, and the motor 7 is driven;
b9, the rotation of the motor 7 drives the hydraulic variable pump 8, and oil pumped by the hydraulic variable pump 8 enters the hydraulic accumulator 13 through the two-position two-way reversing valve 9 and the second one-way valve 12;
b10, on the other hand, the rotation of the motor 7 drives the alternator 6, and the electric energy is stored in the super capacitor 5;
a large amount of energy is stored in B11, hydraulic accumulator 13 and supercapacitor 5.
The compound motion of swing arm lifting and rotating forward rotation specifically comprises:
c1, when the movable arm is lifted again, oil liquid in the hydraulic accumulator 13 passes through the first three-position three-way reversing valve 14;
c2, the first three-position three-way reversing valve 14 works in a middle position, and the motor 7 is driven to rotate;
c3, on the one hand, the motor 7 drives the hydraulic variable pump 8 at the same time;
c4, driving the hydraulic variable pump 8 by the motor;
c5, enabling oil pumped out of the hydraulic variable displacement pump 8 to pass through a two-position two-way reversing valve 9 and a first one-way valve 10, enabling the reversing valve to be in a lower position, and enabling the oil to enter an outlet of the main pump 1;
c6, during which the first pressure sensor 17 transmits the detected flow signal to the controller 21;
c7, if the flow is too large, the expansion speed of the piston rod of the movable arm hydraulic cylinder exceeds a set value, then the controller 21 sends an instruction to increase the swing angle of the swash plate of the hydraulic variable pump 8, so that the resistance torque provided by the hydraulic variable pump 8 is increased, the rotating speed of the fixed-quantity motor 7 is reduced, and the purpose of reducing the flow of the oil through the fixed-quantity motor 7 is achieved;
c8, if the flow is too small, the flow of the hydraulic oil flowing through the quantitative hydraulic gain motor 7 is increased, and the lowering speed of the excavator operating mechanism is accelerated;
c9, the rotation of the motor 7 drives the alternating current generator 6, and the electric energy is stored in the super capacitor 5;
c10 and super capacitor 5 transmit current to motor 3 to drive main pump 1.
While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.
Claims (10)
1. The utility model provides a large-scale steel machine gyration swing arm composite action hydraulic pressure economizer system which characterized in that: the system comprises a main pump (1), a controller (21), a first rotation system, a second rotation system, a composite action energy recovery system and an arm moving system;
the main pump (1) is respectively connected with a first rotation system and a combined action energy recovery system through pipelines, the first rotation system is connected with a second rotation system through a loading rotation mechanism (33), the second rotation system is connected with the combined action energy recovery system, and the combined action energy recovery system is connected with a movable arm system.
2. The large steel grabbing machine rotary movable arm compound action hydraulic energy-saving system according to claim 1, is characterized in that: the first rotary system comprises a second rotary motor (34), a third overflow valve (35), a fourth overflow valve (36), a seventh one-way valve (37), an eighth one-way valve (38), a second three-position three-way reversing valve (42) and a third three-position three-way reversing valve (43) which are arranged on the pipeline; the inlet ends of the second three-position three-way reversing valve (42) and the third three-position three-way reversing valve (43) are connected with the main pump (1) through pipelines, and the outlet ends of the second three-position three-way reversing valve (42) and the third three-position three-way reversing valve (43) are connected with the second rotary motor (34); the second rotary motor (34) is communicated with the turning mechanism (33); the inlet end of the third three-position three-way reversing valve (43) is communicated with a fifth overflow valve (44) through a pipeline, and a two-position one-way reversing valve (39) is arranged between the second three-position three-way reversing valve (42) and the outlet end pipeline of the third three-position three-way reversing valve (43); the second three-position three-way reversing valve (42) and the third three-position three-way reversing valve (43) are electrically connected with the controller (21).
3. The large steel grabbing machine rotary movable arm compound action hydraulic energy-saving system according to claim 1, is characterized in that: the second rotary system comprises a first rotary motor (32), a first overflow valve (30), a second overflow valve (31), a fifth one-way valve (28) and a sixth one-way valve (29) which are arranged on a pipeline; the first rotary motor (32) is communicated with the upper turning mechanism (33); a second three-position four-way reversing valve (27) and a two-position two-way reversing valve (26) are respectively arranged on a pipeline connecting the second rotary system and the composite action energy recovery system; the second three-position four-way reversing valve (27) and the two-position two-way reversing valve (26) are communicated with the outlet end of the two-position three-way reversing valve (9) through a pipeline; and the second three-position four-way reversing valve (27) and the two-position two-way reversing valve (26) are in signal connection with the controller (21).
4. The large steel grabbing machine rotary movable arm compound action hydraulic energy-saving system according to claim 1, is characterized in that: the compound motion energy recovery system comprises a motor (7) mounted on a pipeline; the motor (7) is communicated with a hydraulic variable pump (8), the hydraulic variable pump (8) is communicated with the inlet end of a two-position three-way reversing valve (9), and the outlet end of the two-position three-way reversing valve (9) is respectively connected with a second pressure sensor (19), a hydraulic accumulator (13) and a third pressure sensor (20) through pipelines; the second pressure sensor (19) is communicated with the main pump (1); one end of the motor (7) is respectively communicated with a fourth one-way valve (24), a first pressure sensor (17), a flow sensor (18), the main pump (1) and the electromagnetic control valve (11) through pipelines; a third one-way valve (23) is arranged on a pipeline through which the motor (7) is communicated with the main pump (1); the hydraulic variable pump (8), the second pressure sensor (19) and the electromagnetic control valve (11) are in signal connection with a controller (21).
5. The large steel grabbing machine rotary movable arm compound action hydraulic energy-saving system according to claim 1, is characterized in that: the movable arm system comprises a first three-position three-way reversing valve (14), a first three-position four-way reversing valve (15), a plurality of movable arm hydraulic cylinders (16) and a plurality of stroke sensors (22) which are sequentially connected through pipelines; the plurality of movable arm hydraulic cylinders (16) are communicated through pipelines; a stroke sensor (22) is arranged on the movable arm hydraulic cylinder (16); the first three-position four-way reversing valve (15) is respectively communicated with pipelines arranged among the plurality of movable arm hydraulic cylinders (16) through pipelines; the first three-position four-way reversing valve (15) is communicated with the motor (7) through a pipeline; the first three-position three-way reversing valve (14) is respectively communicated with the motor (7) and an outlet end pipeline of the two-position three-way reversing valve (9); the first three-position three-way reversing valve (14), the first three-position four-way reversing valve (15) and the plurality of stroke sensors (22) are electrically connected with the controller (21).
6. The large steel grabbing machine rotary movable arm compound action hydraulic energy-saving system according to claim 1, is characterized in that: the main pump (1) is communicated with the transfer case (2), and the transfer case (2) is respectively connected with the motor (3) and the engine (4); the motor (3) is sequentially electrically connected with the super capacitor (5) and the alternating current generator (6), and the alternating current generator (6) is connected with the motor (7) through a pipeline.
7. The method for the large steel grab machine swing boom compound action hydraulic energy-saving system according to any one of claims 1 to 6, is characterized by comprising the compound movement of boom primary lifting and swing forward rotation:
s1, the engine (4) drives the main pump (1) to pump oil out and the oil flows through the first three-position four-way reversing valve (15);
s2, the controller (21) controls the first three-position four-way reversing valve (15) to work at the lower position;
s3, enabling oil to enter a movable arm rodless cavity;
s4, enabling the oil to flow into the first three-position three-way reversing valve (14) through the oil in the rod cavity via the first three-position four-way reversing valve (15);
s5, the controller (21) controls the first three-position three-way reversing valve (14) to work at the lower position;
s6, enabling the hydraulic oil to enter a hydraulic accumulator (13);
s7, the engine (4) drives the main pump (1) to pump oil out and the oil flows through the second three-position three-way reversing valve (42);
s8, controlling the right position operation of the second three-position three-way reversing valve (42) by the controller (21);
s9, the oil liquid drives a second rotary motor (34) and a loading rotary mechanism (33) in the first rotary system to rotate;
s10, passing the oil through a left oil return tank of a third three-position three-way reversing valve (43);
s11, performing lower position operation on the two-position one-way reversing valve (39);
s12, the loading swing mechanism (33) drives a first swing motor (32) in the second swing system to rotate;
and S13, the oil liquid flows into the fifth check valve (28) and the sixth check valve (29) from the oil tank to supplement the oil for the first rotary motor (32).
8. The method for the large steel grab machine to swing the movable arm composite action hydraulic energy-saving system according to any one of claims 1 to 6, is characterized by comprising a movable arm holding and swing braking method:
a1, the controller (21) controls the variable pump (1) to stop oil supply;
a2, the first three-position four-way reversing valve (15) works in a middle position, and a movable arm keeps moving;
a3, braking the boarding rotation mechanism (33);
a4, decelerating the first swing motor (32) in the second swing system;
a5, oil liquid is recycled and enters the hydraulic accumulator (13) through the left position of the second three-position four-way reversing valve (27) and the lower position of the two-position two-way reversing valve (26);
a6, a fourth pressure sensor (25) detects that the pressure is constant;
a7, the controller (21) sends out signals, and the two-position one-way reversing valve (39) works in the right position;
a8, braking the boarding rotation mechanism (33);
a9, decelerating a second swing motor (34) in the first swing system;
a10, the oil flows through the two-position one-way reversing valve (39) to operate at the upper position;
a11, the fifth pressure sensor (40) detects the pressure increase;
a12, the controller (21) sends out signals, and the second three-position three-way reversing valve (42) works at the left position;
a13, the oil flows into the oil tank.
9. The method for the large steel grab machine swing boom compound action hydraulic energy-saving system according to any one of claims 1 to 6, is characterized by comprising a compound movement method of boom descending and swing reversing:
b1, the engine (4) drives the main pump (1) to pump oil;
b2, a third three-position three-way reversing valve (43) works at the right position to drive a second rotary motor (34) in the first rotary system;
b3, the oil flows through a left oil return tank of a second three-position three-way reversing valve (42);
b4, the first three-position four-way reversing valve (15) works in the middle position, and the movable arm keeps moving;
b5, the boarding rotating mechanism (33) approaches to the rotating starting point, and the engine (4) drives the main pump (1) to pump oil;
b6, flowing through a first three-position four-way reversing valve (15);
b7, the first three-position four-way reversing valve (15) works at the upper position under the action of the controller (21);
b8, oil enters a movable arm rod cavity, and the movable arm descends;
b9, a boom cylinder stroke sensor (22) detects cylinder stroke data and transmits the cylinder stroke data to the controller (21);
b10, starting the composite action energy recovery system;
b11, passing the oil in the movable arm rodless cavity through a first three-position four-way reversing valve (15);
b12, the water flows into the first three-position three-way reversing valve (14) to be positioned and drives the motor (7);
b13, the motor (7) drives the hydraulic variable pump (8);
b14, pumping oil out of the hydraulic variable pump (8) and entering a hydraulic accumulator (13) through a two-position two-way reversing valve (9) and a second one-way valve (12);
b15, the motor (7) drives the alternating current generator (6) in a rotating way;
b16 and the super capacitor (5) store electric energy.
10. The method for the large steel grab machine to swing the movable arm and perform the compound action on the hydraulic energy-saving system according to any one of claims 1 to 6 is characterized by comprising a compound movement method of lifting the movable arm and rotating forward:
c1, lifting the movable arm again, and enabling oil liquid in the hydraulic accumulator (13) to pass through a first three-position three-way reversing valve (14);
c2, neutral operation of a first three-position three-way reversing valve (14);
c3, driving the motor (7) to rotate;
c4, driving the hydraulic variable pump (8) by the motor;
c5, passing the oil pumped by the hydraulic variable pump (8) through a two-position two-way reversing valve (9) and a first check valve (10);
c6, the two-position two-way reversing valve (9) and the first check valve (10) are in the lower position and enter the outlet of the main pump (1);
c7, the first pressure sensor (17) transmits the detected flow signal to the controller (21);
c8, when the expansion and contraction speed of the piston rod of the movable arm hydraulic cylinder with overlarge flow exceeds a set value, the controller (21) sends out an instruction to increase the swash plate swing angle of the hydraulic variable pump (8);
c9, a motor (7) drives the alternating current generator (6) in a rotating way;
c10 and a super capacitor (5) store electric energy.
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