CN117947833A

CN117947833A - Excavator energy recovery method and device, excavator and storage medium

Info

Publication number: CN117947833A
Application number: CN202410291693.8A
Authority: CN
Inventors: 侯轩辉; 胡永慧; 孙晓鹏; 李文慧; 刘彦
Original assignee: Weichai Power Co Ltd
Current assignee: Weichai Power Co Ltd
Priority date: 2024-03-14
Filing date: 2024-03-14
Publication date: 2024-04-30

Abstract

The invention relates to the technical field of engineering vehicles, in particular to an energy recovery method and device for an excavator, the excavator and a storage medium. The excavator energy recovery method comprises the following steps: during the excavating process of the excavator, determining the required flow of the movable arm according to the intention of a driver, wherein the intention of the driver is obtained by a pilot handle; when the excavator is in a revolving state, revolving high-pressure oil of at least part of the revolving hydraulic circuit is recovered and flows to the movable arm hydraulic cylinder, and the required flow of the movable arm hydraulic cylinder is kept unchanged; the oil flow rate of the hydraulic pump to the movable arm hydraulic cylinder is reduced, and the engine speed is reduced. The flow of the oil liquid entering the oil cylinder of the movable arm can be ensured by reducing the flow of the hydraulic pump, so that the movable arm has small impact, the oil consumption of the hydraulic pump is reduced, and the whole excavator has good operability. And a reduction in engine speed can improve the handling of the excavator as a whole. The excavator energy recovery method provided by the invention can realize the cooperative work of the engine and the hydraulic pump.

Description

Excavator energy recovery method and device, excavator and storage medium

Technical Field

The invention relates to the technical field of engineering vehicles, in particular to an energy recovery method and device for an excavator, the excavator and a storage medium.

Background

The hydraulic excavator can cause great overflow loss in the turning starting and braking process. The excavating process is divided into two parts of excavating material moving and rotary discharging, and the excavating process is a composite action consisting of rotary and the like. In the normal rotation process, most of the oil returns to the oil tank through the rotation overflow valve, and energy waste can be caused because a large amount of energy still exists in the oil returning to the oil tank.

Therefore, there is a need for an energy recovery method for an excavator to solve the above-mentioned problems.

Disclosure of Invention

The invention aims to provide an energy recovery method and device for an excavator, the excavator and a storage medium, which can recycle rotary oil and ensure small impact of a movable arm.

To achieve the purpose, the invention adopts the following technical scheme:

an excavator energy recovery method comprising the steps of:

During the excavating process of the excavator, determining a movable arm required flow according to the intention of a driver, wherein the intention of the driver is obtained by a pilot handle;

When the excavator is in a revolving state, revolving high-pressure oil of at least part of the revolving hydraulic circuit is recovered and flows to the movable arm hydraulic cylinder, and the required flow of the movable arm hydraulic cylinder is kept unchanged;

the oil flow rate of the hydraulic pump to the movable arm hydraulic cylinder is reduced, and the engine speed is reduced.

As a preferable embodiment of the excavator energy recovery method, the boom cylinder demand flow rate and the pilot pressure of the pilot handle are mapped, and the boom cylinder demand flow rate and the pilot pressure of the pilot handle are positively correlated.

As a preferable embodiment of the excavator energy recovery method, the engine speed, the pump pressure of the hydraulic pump, and the flow rate of the hydraulic pump are in a mapping relationship.

As a preferable mode of the excavator energy recovery method, when the boom is in the excavating and shifting state, if the boom is lowered, the minimum flow rate of the hydraulic pump is corrected based on the recovered rotational high-pressure oil flow rate.

As a preferable embodiment of the above-described excavator energy recovery method, the turning state includes turning braking and turning start.

As a preferable technical scheme of the excavator energy recovery method, the rotary hydraulic circuit comprises a rotary motor, and the rotary braking and the rotary starting are determined according to a difference between pressure differences of two oil ports of the rotary motor and a preset difference value.

The invention also provides an energy recovery device of the excavator, which comprises:

the acquisition module is used for determining the required flow of the movable arm hydraulic cylinder according to the intention of a driver in the process of excavating the excavator, wherein the intention of the driver is obtained by a pilot handle;

The first execution module is used for recycling and flowing the rotary high-pressure oil of at least part of the rotary hydraulic circuit to the movable arm hydraulic cylinder when the excavator is in a rotary state, and the required flow of the movable arm hydraulic cylinder is kept unchanged;

And the second execution module is used for reducing the oil flow rate of the hydraulic pump to the movable arm and reducing the rotating speed of the engine.

As a preferable embodiment of the above excavator energy recovery method, the excavator further includes a hydraulic pump minimum flow rate correction module for correcting a minimum flow rate of the hydraulic pump according to a recovered rotational high pressure oil flow rate when the boom is in an excavating and shifting state and when the boom is lowered.

The invention also provides an excavator, which comprises an excavator body, a movable arm and a bucket, wherein the movable arm is connected between the excavator body and the bucket, and the excavator further comprises:

A controller;

the angle sensor is used for detecting the rotation angle of the excavator and sending the detected rotation angle to the controller;

a speed sensor for detecting a rotational speed of the engine and transmitting the detected rotational speed of the engine to the controller;

A first flow sensor for detecting a flow rate of the hydraulic pump outlet and transmitting the detected flow rate of the hydraulic pump outlet to the controller;

The second flow sensor is used for detecting the oil flow of the rotary hydraulic circuit flowing to the movable arm and sending the detected oil flow of the rotary hydraulic circuit flowing to the movable arm to the controller;

a memory for storing one or more programs;

the one or more programs, when executed by the controller, cause the controller to control the hybrid vehicle to implement the excavator energy recovery method of any of the above aspects.

The present invention also provides a computer readable storage medium having stored thereon a computer program for execution by a processor to implement the method of energy recovery for an excavator according to any one of the above aspects.

The invention has at least the following beneficial effects:

The flow of the oil liquid entering the oil cylinder of the movable arm can be ensured by reducing the flow of the hydraulic pump, so that the movable arm has small impact, the oil consumption of the hydraulic pump is reduced, and the whole excavator has good operability. And a reduction in engine speed can improve the handling of the excavator as a whole. Compared with the prior art that only oil is introduced into the movable arm, the excavator energy recovery method provided by the invention can realize the cooperative work of the engine and the hydraulic pump.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.

FIG. 1 is a flow chart diagram of a method for recovering energy of an excavator according to an embodiment of the present invention;

FIG. 2 is a second flowchart of an energy recovery method for an excavator according to an embodiment of the present invention;

FIG. 3 is a block diagram of an energy recovery device for an excavator according to a second embodiment of the present invention;

Fig. 4 is a block diagram of an excavator according to a third embodiment of the present invention.

In the figure:

201. an acquisition module; 202. a first execution module; 203. a second execution module;

401. A body; 402. a movable arm; 403. a bucket; 404. a controller; 405. an angle sensor; 406. a speed sensor; 407. a first flow sensor; 408. a second flow sensor; 409. a memory.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The hydraulic oil in the rotary hydraulic circuit in the prior art overflows back to the oil tank through the overflow valve, so that energy is wasted. Therefore, the invention provides an energy recovery method of an excavator, which is used for recovering high-pressure oil in a rotary hydraulic circuit and ensuring stable operation of a movable arm.

The excavator is a heavy engineering machine and is widely applied to the fields of buildings, roads, bridges, mines and the like. It is made up of several parts, with the slewing body and boom being important components of the excavator.

The revolving body is positioned at the upper part of the excavator and can rotate 360 degrees. The revolving body mainly comprises an upper revolving table, a slewing bearing, a revolving mechanism, a revolving motor, a revolving speed reducer and the like. The upper turntable is a main bearing structure of the revolving body, and key components such as a cab, an engine, a main pump, a main control valve and the like are arranged on the upper turntable. When the driver operates the excavator, various actions of the excavator can be realized by controlling the operation handle on the upper turntable. Slewing bearings are critical components connecting the upper turntable and the chassis, and bear the weight of the upper structure of the excavator and the huge torque generated during slewing. The slewing bearing is generally made of high-strength materials, and has higher bearing capacity and wear resistance. The rotary mechanism mainly comprises a rotary motor and a rotary speed reducer, and realizes the rotation action of the upper rotary table through the rotary motor and the rotary speed reducer. The rotary motor generally adopts a hydraulic motor, has higher torque and rotating speed, and can meet the rotary requirements of the excavator under various working conditions. The rotary speed reducer is an important component of the rotary mechanism, and converts high-speed low-torque output of the rotary motor into low-speed high-torque output in a speed reduction and torque increase mode so as to meet the power requirement of the excavator during rotation.

The movable arm is positioned at the front part of the excavator, and the excavating and unloading actions of the excavator are realized through the telescopic movement of the oil cylinder. The movable arm hydraulic control device mainly comprises a movable arm oil cylinder, a movable arm body, a connecting pin shaft and the like. The movable arm oil cylinder is a power source of the movable arm, and the lifting action of the movable arm is realized through telescopic movement. The boom cylinder generally adopts a double-acting cylinder, namely, the telescopic movement is driven by oil pressure in two directions. The boom body is a main body structure of the boom, and receives the excavating force of the excavator and the thrust force of the boom cylinder. The steel plate is generally welded by high-strength steel materials, and has enough rigidity and strength. The connecting pin is a key component for connecting the movable arm and the bucket rod, and bears the shearing force and the bending moment between the movable arm and the bucket rod. The connecting pin shaft is generally made of high-strength materials so as to ensure the safety and reliability of the connecting pin shaft in the use process.

The rotary action of the excavator is that the engine drives the hydraulic pump, the hydraulic pump supplies oil, at the moment, a rotary valve core in the rotary hydraulic loop is opened, oil of the hydraulic pump is supplied to an A port and a B port of the rotary motor, and the rotary action of the whole excavator is driven by the pressure of the A port and the B port of the rotary motor. However, because of the large inertia during start and stop, a large pressure difference needs to be maintained at the end of the rotary motor, and the pressure difference is often larger than the overflow pressure of the rotary motor, so that energy waste is caused by the pressure maintenance and the existing oil liquid passing through the overflow valve back to the tank.

Fig. 1 is a flowchart of an energy recovery method for an excavator according to an embodiment of the present invention, specifically, as shown in fig. 1, the energy recovery method for an excavator includes the following steps:

S101, determining a movable arm required flow according to the intention of a driver in the excavating process of the excavator, wherein the intention of the driver is obtained by a pilot handle; driver intent includes boom up or boom down;

When the pilot pressure of the handle is set to be lower than the minimum threshold lower limit, the handle is determined to be non-operated, the required flow is set to be 0, and when the pilot pressure of the handle is greater than the threshold upper limit, the required flow of the movable arm is determined to be maximum. As the pilot pressure increases between the two thresholds, the boom demand flow increases.

And S102, after the rotary rotation is finished or the rotary starting is finished, at least part of rotary high-pressure oil of the rotary hydraulic circuit is recovered and flows to the movable arm hydraulic cylinder, so that the oil flow of the hydraulic pump to the movable arm hydraulic cylinder is reduced, the rotating speed of the engine is reduced, and the required flow of the movable arm hydraulic cylinder is kept unchanged.

When the excavating action is performed, the position of the handle is kept unchanged, so that the required flow of the movable arm is unchanged, and compared with the condition that the required flow of the movable arm cylinder is completely supplied by the hydraulic pump, the hydraulic pump can reduce the oil supply of the pump to the movable arm due to the liquid return of the rotary liquid path, and the total flow requirement of the movable arm is ensured to be unchanged. When the excavator is in a revolving state, the excavator can be understood to be after revolving rotation is completed or after revolving is started.

Before the revolving body revolves, the movable arm oil cylinder obtains the high-pressure oil pumped by the hydraulic pump according to the working requirement, and because the revolving body revolves or starts after finishing, the oil in the revolving liquid path at least partially flows to the oil cylinder of the movable arm, in order to ensure that the total requirement of the movable arm oil cylinder = the inflow of the revolving liquid path + the output of the hydraulic pump, the flow of the hydraulic pump is reduced at the moment, so that the flow of the oil entering the oil cylinder of the movable arm can be kept balanced, the impact of the movable arm is small, the oil consumption of the hydraulic pump is reduced, and the operability of the whole excavator is good. And a reduction in engine speed can improve the handling of the excavator as a whole. Compared with the prior art that only oil is introduced into the movable arm, the excavator energy recovery method provided by the invention can realize the cooperative work of the engine and the hydraulic pump.

The engine drives the hydraulic pump, and the flow rate of the hydraulic pump is the product of the rotation speed of the engine and the displacement of the hydraulic pump, so that the control of the hydraulic pump in the embodiment actually controls the displacement of the hydraulic pump, and the reduction of the rotation speed can cause the flow rate of the hydraulic pump to be reduced under the condition that the displacement of the hydraulic pump is unchanged.

If the rotation speed of the engine is not changed, the whole vehicle in the energy recovery process can be caused to fluctuate, and the comprehensive choosing and choosing of a proper amount of rotation speed reduction can play a significant role in improving operability. In most cases, the reduction of the rotation speed can cause improvement of operability, and the proper improvement of the rotation speed operability in some cases is not excluded, so that the vehicle is particularly suitable for on-site vehicle.

The boom cylinder demand flow rate and the pilot pressure of the pilot handle are in a mapping relationship, and the boom cylinder demand flow rate and the pilot pressure of the pilot handle are positively correlated.

It will be appreciated that the desired flow of the boom cylinder and the pilot pressure of the pilot handle may be obtained by way of a look-up table, while the relationship between the desired flow of the boom cylinder and the pilot pressure of the pilot handle is obtained by way of a number of tests.

It is understood that the engine speed, the pump pressure and the flow rate of the hydraulic pump are in a mapping relationship. An allowable engine speed change section (the engine speed is at a minimum not lower than a section threshold) is set, and the engine speed is adjusted in the section according to the pump pressure fluctuation and the reuse flow during excavation. The more the recovery revolution flow rate is, the lower the engine rotation speed is reduced, while the larger the pump pressure fluctuation is, the less the engine set rotation speed can be changed. And the influence of pump pressure fluctuation on the engine speed is higher than the influence of recovery flow, so that the cooperative control of the engine and the hydraulic pressure is realized.

For example, it is considered that the engine speed control is cooperatively restricted with the pump pressure of the hydraulic pump and the recovery flow rate in the form of a lookup table. Illustrative (specific data are based on-site vehicles, and use is only made here as an example): setting the engine speed to be fixed at 1650 revolutions, and finally outputting the engine speed to be 1650 x K1 x K2 revolutions, wherein K1 is a fluctuation influence coefficient of the pump pressure of the hydraulic pump, K2 is an influence coefficient of energy recovery on the engine speed, but the range of the value of K2 is limited by K1, so that the final value of the engine speed 1650 x K1 x K2 finally outputted is also influenced by the final output limit value.

When the pump pressure of the hydraulic pump fluctuates at about 20bar, the pump pressure influence of the hydraulic pump is considered to be smaller, K1 is set unchanged, the value of K2 is obtained by looking up a table according to the recovery flow, for example, 0.95, and the final output set engine speed is 1650×1×0.95.

When the pump pressure fluctuates around 80bar, the influence of the pump pressure of the hydraulic pump is considered to be large, at this time, the setting of K1 is unchanged, the value of the lookup table K2 according to the energy recovery is, for example, 0.9 at this time, and the final output engine speed is 1650×1×1, and the engine speed cannot be forcibly changed.

When the pump pressure fluctuates around 120bar, K1 may increase slightly, for example, a factor of 1.05 and K2 may be 0.9, but the final output engine speed is still 1650×1.05×1.

The absolute priority of the coefficient of K1 is guaranteed, the influence on the engine speed is better than that of K2, but the cooperative control of K1 and K2 on the engine speed is realized. Specific K1 and K2 and specific table look-up data require complete vehicle and site mastering.

When the boom is in the excavating and shifting state, if the boom is lowered, the minimum flow rate of the hydraulic pump is corrected according to the recovered rotational high-pressure oil flow rate.

The action of the moving arm is not negligible due to the action of gravity, and the digging action basically overcomes the gravity to do work except the moving arm is lowered, but the moving arm is lowered to do positive work for the gravity. Through test, when the movable arm is not supported by the ground when the movable arm is in descending motion when the hydraulic pump is not supplying oil, the speed is not greatly different from the motion time when the hydraulic pump is supplying oil. The digging action does not involve the supporting action of the movable arm, and at the moment, the movable arm descends and receives the oil liquid which is recovered by rotating, and the minimum flow is corrected by a mode of reducing because the calculation according to the original pump-carrying demand flow is unnecessary.

For example, the boom lifting action requires 250L/min when the handle is pulled to the bottom, but the boom lowering flow only needs 200L/min, at this time, the flow only needs 120L/min due to the introduction of the swing utilization flow, for example, 80L/min is introduced by the swing, but the boom lowering gravity has a great influence, so the boom lowering flow can be downwards adjusted to 110L/min on the basis of 120L/min.

When the excavating and discharging are carried out, the total required flow is unchanged due to the fact that the movable arm descends, and the rotary oil liquid is added, at the moment, the flow of the pump is required to be reduced, and the total flow is kept unchanged. Because the gravity in the unloading process has a large effect, in order to ensure that the whole speed in the unloading process is kept unchanged, the pump flow needs to be reduced again on the basis of the original calculated flow to carry out secondary flow correction. To ensure Q _pmp+Q_swing＝Q_Bom, where Q _Bom is the boom demand flow, Q _pmp is the high pressure oil flow provided by the swing hydraulic circuit, and Q _swing is the flow provided by the hydraulic pump for the boom.

The minimum threshold value is set for the flow rate of the hydraulic pump when the material is moved through excavation, but the flow rate of the hydraulic pump is difficult to be lower than the threshold value due to the large flow rate required when the movable arm is lifted. However, when the boom descends in a non-supporting state, the boom requires less oil, and the phenomenon of abrupt change of the descending speed of the boom easily occurs due to the addition of the oil during rotation. Due to the addition of the turning flow rate, a phenomenon in which the boom actual flow rate exceeds the boom demand flow rate may occur when the flow rate of the hydraulic pump is at the minimum threshold value. Therefore, the flow rate of the hydraulic pump is secondarily corrected, and the concrete implementation mode is that the minimum flow rate supplied by the pump is corrected according to the rotation utilization flow rate, and the threshold value can be adjusted according to the speed on the basis of not affecting the speed of the movable arm. Simultaneously, the engine rotating speed needs to be synchronously reduced in the oil supplementing process, the engine rotating speed control mode is the same as the excavating and material moving control mode, and the correction quantity of the engine rotating speed needs to be cooperatively regulated according to the actual pump flow control and the pump pressure fluctuation condition, so that the cooperative control effect of the engine and the hydraulic pressure is achieved.

The high-pressure oil flow recovered to the boom by the swing hydraulic circuit is obtained according to the bernoulli equation. Where bernoulli equation is p+1/2ρv ² +ρgh=c, the flow rate of regeneration can be estimated from the bernoulli equation from the pressure of the turning portion and the pressure of the regeneration to the boom, ignoring the influence of the pressure. After the sectional area of the regeneration pipeline is known, the flow rate of the rotary regeneration can be judged according to the flow rate and the sectional area.

In some embodiments, the swing state includes swing braking and swing starting, that is, after the swing braking is completed and after the swing starting is completed, the swing high-pressure oil at least partially flows to the movable arm in an overflow manner, so as to provide high-pressure oil for the movable arm to work. The connection between the swing hydraulic circuit and the boom cylinder may be performed in various manners, and the connection between the swing hydraulic circuit and the boom cylinder is in the prior art, and will not be described in detail herein.

In some embodiments, the swing hydraulic circuit includes a swing motor, the swing rotation is completed and the swing start is determined according to a difference between a pressure difference between two oil ports of the swing motor and a preset difference.

For example, the revolution can be divided into three phases, specifically: a swing start phase, a swing progress phase and a swing completion phase. In the swing start stage, the pressure difference between the port a of the swing motor and the port B of the swing motor needs to reach a set threshold (the set threshold is determined by the motor specification and the load), after the swing is started, the pressure difference between the port a of the swing motor and the port B of the swing motor gradually decreases, and after the swing enters a uniform speed stage (namely, the swing progress stage), the pressure difference between the port a of the swing motor and the port B of the swing motor is stabilized near a fixed value (the fixed value is determined by the motor specification and the load). In the finishing stage of the revolution, the pressure difference between the port A of the revolution motor and the port B of the revolution motor is increased again, and the revolution speed is reduced. When the oil stops supplying oil, the handle is loosened, the motor stops, and the rotation is completed.

When the rotation starts, the rotation is needed to be carried out when the rotation inertia of the platform is large, and when the pressure difference between the openings A and B of the rotation motor reaches a certain degree, the rotation starts. After the whole vehicle rotates, oil overflows back to the oil tank due to inertia, so that energy waste is caused. Because the pressure of the digging and material moving rotary motor is higher, the flow is abundant, and the recovery condition is provided. When the swing pilot pressure is detected to exceed the set threshold value and the pump pressure exceeds the set threshold value, judging that the working condition is the excavating working condition at the moment. And when the pressure of the opening A or the opening B of the rotary motor exceeds the overflow threshold value during the excavating working condition, recovering the rotary high-pressure oil liquid and supplying the oil to the movable arm.

The latter half of the excavating cycle is the composite action of rotary braking, and rotary pressure is needed during rotary braking, and the rotary is stopped after the pressure difference between the opening A and the opening B of the rotary motor reaches a certain degree.

As shown in fig. 2, fig. 2 is a second flowchart of an energy recovery method for an excavator according to an embodiment of the present invention, specifically, as shown in fig. 2, the energy recovery method for an excavator includes the following steps:

S201, starting;

s202, obtaining pilot pressure, pump pressure of a hydraulic pump and pressure of an A port and a B port of a rotary motor, and obtaining a required flow of a movable arm;

s203, determining that the excavator is in a rotary excavating working condition according to the relation between the pressure difference of the opening A and the opening B of the rotary motor and a preset difference value;

S204, recycling the rotary high-pressure oil to the movable arm, and reducing the rotation speed of the engine and the flow of the hydraulic pump;

S205, obtaining pilot pressure, pump pressure of a hydraulic pump and pressure of an A port and a B port of a rotary motor, and obtaining a required flow of a movable arm;

s206, determining that the excavator is in a rotary unloading working condition according to the relation between the pressure difference of the opening A and the opening B of the rotary motor and a preset difference value;

S207, recycling the rotary high-pressure oil to the movable arm, and reducing the rotation speed of the engine and the flow of the hydraulic pump;

s208, ending.

Example two

Fig. 3 is a block diagram of an energy recovery device for an excavator according to a second embodiment of the present invention, and as shown in fig. 3, the energy recovery device for an excavator may perform the energy recovery method of the above embodiment. Specifically, the excavator energy recovery device includes an acquisition module 201, a first execution module 202, and a second execution module 203. Wherein the acquisition module 201 is used for determining the required flow of the hydraulic cylinder of the movable arm according to the intention of a driver, wherein the intention of the driver is obtained by a pilot handle in the process of excavating the excavator. The first execution module 202 is configured to, when the excavator is in a swing state, at least part of the swing high-pressure oil is recovered and flows to the boom cylinder, and the required flow of the boom cylinder remains unchanged. The second execution module 203 is configured to reduce the flow of oil delivered to the boom by the hydraulic pump and reduce the engine speed.

Optionally, the excavator energy recovery device further comprises a hydraulic pump minimum flow correction module, wherein the hydraulic pump minimum flow correction module is used for correcting the minimum flow of the hydraulic pump according to the recovered rotary high-pressure oil flow when the movable arm is in the excavating and shifting state and the movable arm is lowered.

The excavator energy recovery device provided by the embodiment can recover the high-pressure oil liquid overflowing during rotation to the movable arm to provide energy for the movable arm operation through the first execution module 202, and the second execution module 203 is used for reducing the oil quantity of the hydraulic pump and the rotating speed of the engine, so that the overall oil consumption of the excavator is reduced, the movable arm impact is reduced, and the overall operability is good. It is understood that the first execution module 202 and the second execution module 203 execute simultaneously.

Example III

Fig. 4 is a block diagram of an excavator according to a third embodiment of the present invention, and as shown in fig. 4, the hybrid vehicle includes a body 401, a boom 402, a bucket 403, a controller 404, an angle sensor 405, a speed sensor 406, a first flow sensor 407, a second flow sensor 408, and a memory 409, and in the hybrid vehicle, the body 401, the boom 402, the bucket 403, the controller 404, the angle sensor 405, the speed sensor 406, the first flow sensor 407, the second flow sensor 408, and the memory 409 may be connected by buses. The angle sensor 405 is configured to detect a swing angle of the excavator, and send the detected swing angle to the controller 404; the speed sensor 406 is configured to detect a rotational speed of the engine, and send the detected rotational speed of the engine to the controller 404; the first flow sensor 407 is configured to detect a flow rate of the hydraulic pump outlet and send the detected flow rate of the hydraulic pump outlet to the controller 404, and the second flow sensor 408 is configured to detect a flow rate of the hydraulic fluid flowing through the swing hydraulic circuit to the boom 402 and send the detected flow rate of the hydraulic fluid flowing through the swing hydraulic circuit to the boom 402 to the controller 404.

The memory is used as a computer readable storage medium for storing a software program, a computer executable program and modules, such as program instructions/modules corresponding to the clutch self-learning method in the embodiment of the invention. The controller executes various functional applications of the vehicle and data processing by running software programs, instructions and modules stored in the memory, that is, implements the clutch self-learning method of the above embodiment.

The memory mainly comprises a memory program area and a memory data area, wherein the memory program area can store an operating system and at least one application program required by functions; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include memory remotely located with respect to the controller, the remote memory being connectable to the vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The excavator provided in the third embodiment of the present invention belongs to the same inventive concept as the excavator energy recovery method provided in the above embodiment, and technical details not described in detail in the present embodiment can be seen in the above embodiment, and the present embodiment has the same advantageous effects of executing the excavator energy recovery method.

Example IV

A fourth embodiment of the present invention also provides a storage medium having stored thereon a computer program which, when executed by a controller, implements an excavator energy recovery method according to the above-described embodiments of the present invention.

Of course, the storage medium containing the computer executable instructions provided by the embodiment of the invention is not limited to the operations in the energy recovery method of the excavator, but can also execute the related operations in the energy recovery method of the excavator provided by the embodiment of the invention, and has corresponding functions and beneficial effects.

From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, where the instructions include a number of instructions for causing a computer device (which may be a robot, a personal computer, a server, or a network device, etc.) to perform the clutch self-learning method according to the embodiments of the present invention.

Furthermore, the foregoing description of the preferred embodiments and the principles of the invention is provided herein. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. The excavator energy recovery method is characterized by comprising the following steps:

2. The excavator energy recovery method of claim 1 wherein the boom cylinder demand flow is in a mapped relationship with the pilot pressure of the pilot handle and the boom cylinder demand flow is positively correlated with the pilot pressure of the pilot handle.

3. The method according to claim 1, wherein the engine speed, the pump pressure of the hydraulic pump, and the flow rate of the hydraulic pump are in a map relationship.

4. The method according to claim 1, wherein when the boom is in the excavating and shifting state, if the boom is lowered, the minimum flow rate of the hydraulic pump is corrected based on the recovered rotational high-pressure oil flow rate.

5. The method of energy recovery for an excavator of claim 1 wherein the slewing conditions include slewing braking and slewing starting.

6. The method of claim 5, wherein the swing hydraulic circuit includes a swing motor, and the swing brake and the swing start are determined based on a difference between a pressure difference between two oil ports of the swing motor and a preset difference.

7. An energy recovery device for an excavator, comprising:

8. The energy recovery device of claim 7, further comprising a hydraulic pump minimum flow rate correction module for correcting a minimum flow rate of the hydraulic pump based on a recovered rotational high pressure oil flow rate if the boom is lowered when the boom is in the excavating and shifting state.

9. Excavator, including organism, swing arm and scraper bowl, the swing arm connect in between the organism with the scraper bowl, its characterized in that still includes:

A controller;

a memory for storing one or more programs;

The one or more programs, when executed by the controller, cause the controller to control a hybrid vehicle to implement the excavator energy recovery method of any one of claims 1-6.

10. A computer readable storage medium having stored thereon a computer program for execution by a processor to implement the method of mining energy recovery of any of claims 1-6.