KR20200099230A - Energy recovery device for crane and control method for the same - Google Patents

Abstract

The present invention relates to an energy recovery device for a crane, and a control method thereof. According to the present invention, the energy recovery device for a crane comprises: a winch; an energy recovery unit including a hydraulic pump motor; a driving unit; a fluid tank connected to the driving unit and the energy recovery unit; a load sensor; a regulator; and a control unit. According to the present invention, the operation efficiency can be improved through the optimum energy recovery.

Description

Energy recovery device for crane and control method for the same}

The present invention relates to an energy regeneration device for a crane and a control method thereof, and more particularly, a winch provided in the crane is connected to an energy regeneration unit that is contacted and spaced apart in a clutch type to charge energy generated by the rotation of the winch. However, it is invented to allow the use of regenerative energy by using the charged energy to drive the winch, but to enable optimal energy recovery according to the weight of the object and a certain pressure condition.

In general, a crane device is a device that supplies power to a winch to lift a load, lifts a load, moves the load to a specific destination, and performs repetitive work of dropping it at the destination.

Here, when the winch lifts the load, the winch rotates by receiving power from the outside to lift the load connected to the winch, but when lowering the load, the winch rotates while the load descends by gravity. Energy is generated from

In a conventional crane device, energy generated from a winch is dissipated as heat through a separate resistor and consumed, or energy is lost because energy is not used in a simple discharging method.

Korean Patent Publication No. 10-2010-0106215 (published on October 1, 2010) Korean Patent Publication No. 10-2018-0062478 (published on June 11, 2018)

The present invention is to solve the above-described conventional problem, by connecting a winch provided in a crane with an energy regeneration unit contacted and spaced apart in a clutch type to charge the energy generated by the rotation of the winch, and the charged energy to the winch It is an object of the present invention to provide an energy regeneration device for a crane capable of utilizing regenerative energy by using it to drive and a control method thereof.

In addition, another object of the present invention is an energy regeneration device for a crane that enables optimal energy recovery through proportional conversion in a controller based on a load sensing value for sensing the weight of an object and data on the swash plate slope of the regulator, and its It is to provide a control method.

The apparatus of the present invention for achieving the above object includes a winch on which a wire is wound;

The winch is connected in a clutch manner to recover and store hydraulic energy generated from the winch rotating while descending the object connected to the wire, or to drive the winch to raise the object using the stored hydraulic energy. Energy regeneration unit including a hydraulic pump motor;

A driving unit connected to the winch in a clutch manner to transmit a driving force generated by hydraulic pressure to the winch to drive the winch to lift an object connected to the wire;

A fluid tank connected to the driving unit and the energy recovery unit to supply fluid to the driving unit and recover fluid from the energy recovery unit;

A load sensor installed on the winch to measure the load weight of an object connected to the wire; And

A regulator provided with a swash plate to adjust the flow rate supplied to the hydraulic pump motor of the energy regeneration unit;

A control unit for selectively connecting the energy regeneration unit or the driving unit to the winch to lower or raise the object, or controlling the supply flow rate by adjusting the swash plate inclination angle of the regulator according to the load of the object detected by the load sensor; It provides an energy regeneration device for a crane comprising a.

The energy regeneration unit includes a first clutch that rotates while contacting or spaced apart from the winch by the control unit, a hydraulic pump motor connected to the first clutch and driven by a pump or a motor according to a driving direction of the winch, and the winch The accumulator for recovering and storing hydraulic energy generated by rotation of the hydraulic pump motor through the hydraulic pump motor, or releasing hydraulic energy to the hydraulic pump motor to drive the winch, and the hydraulic energy transmitted from the hydraulic pump motor It includes a solenoid valve that stores it.

The driving unit includes a second clutch that rotates by contacting or spaced apart from the winch by the control unit, a hydraulic motor receiving fluid from the fluid tank to generate hydraulic energy, an engine unit driving the hydraulic motor, and the It is connected to the second clutch and includes a reducer for controlling a deceleration level of hydraulic energy generated from the hydraulic motor.

The accumulator may further include a hydraulic energy sensor that measures the amount of stored hydraulic energy.

When the accumulator drives the winch, when the hydraulic energy residual amount of the accumulator is measured by the hydraulic energy sensor to be less than a preset lower limit reference amount, the control unit separates the first clutch from the winch and moves the second clutch By contacting the winch, the driving unit can be controlled to drive the winch.

Further comprising a relief valve connecting the fluid tank and the solenoid valve, and when the accumulator recovers and stores hydraulic energy transmitted from the hydraulic pump motor by rotation of the winch, the hydraulic energy sensor of the accumulator When the hydraulic energy residual amount is measured to be more than a preset upper limit reference amount, the boosted fluid delivered to the hydraulic pump motor may be transferred to the fluid tank through the relief valve.

An energy storage step of storing fluid energy generated when the object descends and the winch rotates in the energy regeneration unit using an energy regeneration device for a crane;

A regenerative energy use step of raising the object by driving the winch using the energy stored in the energy storage step;

A load sensing step of sensing a change in weight of an object raised and lowered by a winch in the regenerative energy use step;

An optimization control step of controlling the flow rate and pressure of the hydraulic motor pump to an optimum state by adjusting the swash plate angle of the regulator according to the load level detected in the load sensing step;

It provides a method for controlling an energy regeneration device for a crane, comprising: a drive unit operating step of raising the object through the drive unit when the energy stored in the energy regeneration unit is less than a predetermined standard by the energy used in the regenerative energy use step. .

In the energy storage step, the winch and the first clutch are in contact, and the hydraulic pump motor operates as a pump while the first clutch rotates due to rotation of the winch, and hydraulic energy is stored in the accumulator by the electromagnetic valve. I can make it.

In the regenerative energy use step, the winch and the first clutch are in contact, and the hydraulic pump motor operates as a motor through hydraulic energy stored in the accumulator to rotate the winch.

In the operating step of the driving unit, the winch and the second clutch are in contact, and the engine drives the hydraulic motor to receive fluid from the fluid tank and rotate the winch with hydraulic energy generated by the hydraulic motor.

The present invention as described above has the advantage of recovering and charging energy generated by rotation of the winch while the object descends by gravity by connecting the energy regeneration unit to the winch.

In addition, by using the energy charged in the energy regeneration unit to drive the winch, there is an advantage of saving energy consumption and obtaining an economic benefit.

In addition, by providing a hydraulic energy sensor in the accumulator, the hydraulic energy charged in the accumulator can be measured, and the energy regeneration unit and the driving unit can selectively drive the winch according to the measured hydraulic energy.

In addition, by providing a hydraulic energy sensor in the accumulator to limit the amount of hydraulic energy to be charged in the accumulator, there is an advantage of preventing problems such as failure of the accumulator due to excessive charging of hydraulic energy.

In addition, an optimal energy recovery is possible through proportional conversion in the controller based on the load sensing value for sensing the weight of the object and the data on the square plate of the regulator, thereby greatly improving the overall operation efficiency.

1 is a block diagram illustrating the configuration of an energy regeneration device for a crane.
Figure 2 is a block diagram showing an embodiment of the control method of the energy regeneration device for a crane according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Prior to this, terms used in the specification and claims should not be construed as being limited to a conventional or dictionary meaning, and the inventor should appropriately define the concept of terms in order to describe his own invention in the best way. Based on the principle that it is possible, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all the technical spirit of the present invention, and thus various alternatives that can be substituted for them at the time of application It should be understood that there may be equivalents and variations. In addition, the same reference numerals refer to the same elements throughout the specification.

An embodiment of an energy regeneration device for a crane according to the present invention will be described with reference to FIG. 1 as follows.

As shown in Fig. 1, the energy regeneration device for a crane according to the present invention includes a winch 10, an energy regeneration unit 20, a driving unit 30, a fluid tank 40, a control unit 50, and a hydraulic energy sensor 60. ) And a load sensor 70, and a regulator 80.

The winch 10 has the wire 11 wound thereon, so that the object 12 is moved by winding up or lowering the wire 11 by rotating.

The energy regeneration unit 20 recovers and stores hydraulic energy generated from the winch 10, which is connected to the winch 10 in a clutch manner and rotates when the object 12 connected to the wire 11 descends by gravity. , The winch 10 is driven to raise the object 12 using the stored hydraulic energy.

Specifically, the energy regeneration unit 20 includes a first clutch 21, a hydraulic pump motor 22, an electromagnetic valve 23, and an accumulator 24.

The first clutch 21 is in contact with the winch 10 when the object 12 descends or when the object 12 is raised by the energy regeneration unit 20, and thus occurs when the object 12 descends. The potential energy to be converted into kinetic energy is transmitted to the rotational force of the rotating winch 10 and rotates simultaneously with the winch 10, or the winch 10 is rotated using hydraulic energy stored in the accumulator 24.

The first clutch 21 is spaced apart when the winch 10 is driven by the drive unit 30, and the contact or separation between the first clutch 21 and the winch 10 is a control circuit including a control circuit ( 50).

The hydraulic pump motor 22 is connected to the first clutch 21 and is driven by a pump or a motor, respectively, depending on the driving direction of the winch 10.

That is, when the object 12 descends downward by gravity in FIG. 1 (a), the hydraulic pump motor 22 acts as a pump through the kinetic energy generated as the winch 10 rotates and the accumulator 24 ) To store hydraulic energy.

In contrast, when the object 12 is lifted (b), the hydraulic pump motor 22 acts as a motor to drive the winch 10 using hydraulic energy stored in the accumulator 24.

The accumulator 24 recovers and stores hydraulic energy generated by the rotation of the winch 10 through the hydraulic pump motor 22, or discharges hydraulic energy to the hydraulic pump motor 22 to drive the winch 10. The system is controlled through the solenoid valve 23 so that the solenoid valve 23 is controlled by the control unit 50.

The hydraulic energy sensor 60 measures the amount of hydraulic energy stored in the accumulator 24.

Specifically, when the accumulator 24 drives the winch 10, when the hydraulic energy residual amount of the accumulator 24 measured by the hydraulic energy sensor 60 is less than or equal to a preset lower limit reference amount, the control unit 50 is the first clutch It is possible to control the drive unit 30 to drive the winch 10 by separating (21) from the winch 10 and contacting the drive unit 30 and the winch 10.

For example, when the lower limit reference amount is set to 20% and the hydraulic energy residual amount of the accumulator 24 is measured to be 20% or less, the control unit 50 separates the first clutch 21 from the winch 10, and By contacting the winch 10 with 30, the driving unit 30 is controlled to drive the winch 10.

Conversely, when the accumulator 24 recovers and stores hydraulic energy transmitted from the hydraulic pump motor 22 by the rotation of the winch 10, the hydraulic energy residual amount of the accumulator 24 is preset by the hydraulic energy sensor 60. When measured above the upper limit reference amount, the pressurized fluid delivered to the hydraulic pump motor 22 is transferred to the fluid tank 40 through the relief valve 52a.

In addition, for example, when the upper limit reference amount is set to 80% and the hydraulic energy residual amount of the accumulator 24 is measured to be 80% or more, the pressure-up fluid delivered to the hydraulic pump motor 22 is transferred to the relief valve 52a. Through the fluid tank 40.

Here, the relief valve 52a is disposed on the second pipe 52 connecting the fluid tank 40 and the solenoid valve 23, and as described above, when the hydraulic energy residual amount of the accumulator 24 is 80% or more, the fluid The fluid transferred from the first pipe 51 connecting the tank 40 and the hydraulic pump motor 22 and boosted is transferred to the fluid tank 40 through the second pipe 52.

The drive unit 30 is connected to the winch 10 in a clutch manner to transmit a driving force generated by hydraulic pressure to the winch 10 and rotate it to lift the object 12 connected to the wire 11.

Specifically, the drive unit 30 includes a second clutch 31, a hydraulic motor 33, an engine unit 34, and a speed reducer 32.

The second clutch 31 is contacted or separated from the winch 10 by the control unit.

That is, when the object 12 descends and the winch 10 rotates, it is separated from the winch 10, and when the object 12 is raised by winding the wire 11, it contacts the winch 10. As a result, energy transferred from the hydraulic motor 33 is transferred to the winch 10 to rotate the winch 10 to raise the object 12.

The hydraulic motor 33 is driven by the engine unit 34 and receives fluid through a third pipe 53 connecting the fluid tank 40 and the hydraulic motor 33 to generate hydraulic energy. Hydraulic energy generated from (33) is transmitted to the winch 10 via the second clutch 31 to rotate the winch 10.

The reducer 32 is connected to the second clutch 31 and controls the deceleration level of hydraulic energy generated from the hydraulic motor 33.

Meanwhile, a load sensor 70 is installed in the winch 10 to measure the load of the object 12 connected to the wire 11, and the energy regeneration unit 20 through the regulator 80 according to the measured load. ) To adjust the flow rate supplied to the hydraulic pump motor 22.

Typically, the regulator 80 includes a swash plate for controlling the flow rate and a sensor for measuring the displacement of the swash plate. When the swash plate angle is '0', the flow supply is also blocked.

In addition, as the swash angle increases, the flow rate supply increases proportionally.

By controlling the swash angle of the regulator 80, it is possible to provide a constant pressure to the accumulator 24.

Therefore, when the recovered energy is reused, the load according to the object 12 is sensed by the load sensor 70, the load is checked by the control unit 50, and the angle of the swash plate is proportionally controlled according to the value, and the hydraulic motor It is possible to increase the pressure of the pump 22.

That is, by controlling the measured value of the load sensor 70 and the swash angle of the regulator 80 based on the data, the control unit 50 proportionally converts the supply flow rate and pressure so that optimal energy recovery can be achieved. .

Specifically, when the object 12 connected to the winch 10 by the wire 11 descends (a), the controller 50 recognizes it as a high load state, and at this time, it is proportional to the high load state from the low load state. The swash plate angle of the regulator 80 is controlled to be inclined proportionally.

Further, when the object 12 rises (b), the square plate is changed according to the pressure of the accumulator 24.

For example, when the pressure increases, the swash plate is inclined to maintain a constant pressure.

An embodiment of a method for controlling an energy regeneration device for a crane according to the present invention will be described with reference to FIG. 2.

As shown in Figure 2, the control method of the energy regeneration device for a crane according to the present invention includes an energy storage step (S10), a regenerative energy use step (S20), a load sensing step (S30) and an optimization control step (S40) and a driving unit. It includes an operation step (S50).

In the energy storage step (S10), fluid energy generated when the object 12 descends and the winch 10 rotates is stored in the energy regeneration unit 20.

Specifically, in the energy storage step (S10), the winch 10 and the first clutch 21 are contacted by the control unit, and the winch 10 generated as the object 12 connected to the wire 11 descends. Due to the rotation, the first clutch 21 connected to the winch 10 rotates, and the hydraulic pump motor 22 operates as a pump to store hydraulic energy in the accumulator 24 by the solenoid valve 23. .

At this time, when the residual amount of hydraulic energy stored in the accumulator 24 is 80% or more, the accumulator 24 is transferred to the fluid tank 40 through the relief valve 52a by transferring the boosted fluid delivered to the hydraulic pump motor 22. To stop hydraulic energy storage.

In the regenerative energy use step (S20), the object 12 is raised by driving the winch 10 using the energy stored in the energy storage step (S10).

Specifically, in the regenerative energy use step (S20), the winch 10 and the first clutch 21 are in contact with the control unit 50, and the hydraulic pump motor 22 is driven by the motor, and the accumulator 24 The object 12 connected to the wire 11 is raised by rotating the winch 10 by driving the hydraulic pump motor 22 by using the stored hydraulic energy.

At this time, when the residual amount of hydraulic energy stored in the accumulator 24 is 20% or less, the regenerative energy use step (S20) is stopped, and the driving unit 30 is connected to the winch 10 to drive the winch 10.

On the other hand, in the load sensing step (S30), the change in the weight of the object 12 lifted by the winch 10 in the regenerative energy use step (S20) is sensed by the load sensor 70 and transmitted to the controller 50. .

In addition, in the optimization control step (S40), the flow rate and pressure of the hydraulic motor pump 22 are adjusted to the optimum state by adjusting the swash plate angle of the regulator 80 according to the load level detected in the load sensing step (S30). ).

That is, the load sensor 70 installed on the winch 10 measures the load of the object 12 connected to the wire 11, and the energy regeneration unit 20 through the regulator 80 according to the measured load. The flow rate supplied to the hydraulic pump motor 22 of is adjusted.

By controlling the swash angle of the regulator 80, it is possible to provide a constant pressure to the accumulator 24.

Therefore, when the recovered energy is reused, the load sensor 70 detects the load of the object, checks the weight in the control unit 50, and proportionally controls the angle of the swash plate according to the value of the hydraulic motor pump 22. You can increase the pressure.

Therefore, by controlling the measured value of the load sensor 70 and the swash angle of the regulator 80 based on the data, the control unit 50 proportionally converts the supply flow rate and pressure so that optimal energy recovery can be achieved. .

Specifically, when the object 12 connected to the winch 10 by the wire 11 descends (a), the controller 50 recognizes it as a high load state, and at this time, it is proportional to the high load state from the low load state. The swash plate angle of the regulator 80 is controlled to be inclined proportionally.

Further, when the object 12 rises (b), the square plate is changed according to the pressure of the accumulator 24.

For example, when the pressure increases, the swash plate is inclined to maintain a constant pressure.

In the driving unit operation step (S50), when the energy stored in the energy regeneration unit 20 is measured below a certain standard by the energy used in the regenerative energy use step (S20), the object 12 is raised through the driving unit 30. Let it.

That is, the drive unit operation step (S50) is performed when the hydraulic energy sensor 60 measures the hydraulic energy stored in the accumulator 24 and the hydraulic energy is measured to be 20% or less.

Specifically, in the driving unit operation step (S50), the winch 10 and the second clutch 31 are in contact with each other by the control unit, and the engine drives the hydraulic motor 33 to receive fluid from the fluid tank 40 to receive the hydraulic motor. The object 12 is raised by rotating the winch 10 with hydraulic energy generated by (33).

As described above, it is possible to prevent a safety accident that may occur in the regenerative energy use step (S20) by performing the driving unit operation step (S50).

In addition, since energy generated by the driving of the winch 10 is stored and used, energy can be used more efficiently, and thus energy consumption and fuel consumption can be reduced.

In addition, an optimal energy recovery is possible through proportional conversion in the controller based on the load sensing value for sensing the weight of the object and the data on the square plate of the regulator, thereby greatly improving the overall operation efficiency.

As described above, the present invention is not limited to the specific preferred embodiments described above, and various modifications are implemented by those of ordinary skill in the art without departing from the gist of the present invention claimed in the claims. It is possible and such modifications are within the scope of the present invention.

10-winch 11-wire
12-Object 20-Energy regeneration unit
21-1st clutch 22-Hydraulic pump motor
23-solenoid valve 24-accumulator
30-drive part 31-second clutch
32-reducer 33-hydraulic motor
34-Engine part 40-Fluid tank
50-control 51-first pipe
52-second pipe 52a-relief valve
53-3rd pipe 60-Hydraulic energy sensor
70-load sensor 80-regulator

Claims (10)

A winch on which a wire is wound;
The winch is connected in a clutch manner to recover and store hydraulic energy generated from the winch rotating while descending the object connected to the wire, or to drive the winch to raise the object using the stored hydraulic energy. Energy regeneration unit including a hydraulic pump motor;
A driving unit connected to the winch in a clutch manner to transmit a driving force generated by hydraulic pressure to the winch to drive the winch to lift an object connected to the wire;
A fluid tank connected to the driving unit and the energy recovery unit to supply fluid to the driving unit and recover fluid from the energy recovery unit;
A load sensor installed on the winch to measure the load weight of an object connected to the wire; And
A regulator provided with a swash plate to adjust the flow rate supplied to the hydraulic pump motor of the energy regeneration unit;
A control unit for selectively connecting the energy regeneration unit or the driving unit to the winch to lower or raise the object, or controlling the supply flow rate by adjusting the swash plate inclination angle of the regulator according to the load of the object detected by the load sensor; Energy regeneration device for a crane comprising a.
The method according to claim 1,
The energy regeneration unit includes a first clutch that rotates by contacting or spaced apart from the winch by the control unit, a hydraulic pump motor that is connected to the first clutch and driven by a pump or a motor by a driving direction of the winch, and the winch The accumulator for recovering and storing hydraulic energy generated by rotation of the hydraulic pump motor through the hydraulic pump motor, or releasing hydraulic energy to the hydraulic pump motor to drive the winch, and the hydraulic energy transmitted from the hydraulic pump motor Energy regeneration device for a crane comprising a solenoid valve to be stored as.
The method according to claim 1,
The driving unit includes a second clutch that rotates by contacting or spaced apart from the winch by the control unit, a hydraulic motor receiving fluid from the fluid tank to generate hydraulic energy, an engine unit driving the hydraulic motor, and the An energy regeneration device for a crane comprising a speed reducer connected to the second clutch and controlling a deceleration level of hydraulic energy generated from the hydraulic motor.
The energy regeneration device for a crane according to claim 2, further comprising a hydraulic energy sensor for measuring the magnitude of hydraulic energy stored in the accumulator.
The method of claim 4,
When the accumulator drives the winch, when the hydraulic energy residual amount of the accumulator is measured by the hydraulic energy sensor to be less than a preset lower limit reference amount, the control unit separates the first clutch from the winch and moves the second clutch Energy regeneration device for a crane, characterized in that by controlling the drive unit to drive the winch by contacting the winch.
The method according to any one of claims 1 to 4,
Further comprising a relief valve connecting the fluid tank and the solenoid valve,
When the accumulator recovers and stores hydraulic energy transmitted from the hydraulic pump motor by rotation of the winch, when the hydraulic energy residual amount of the accumulator is measured by the hydraulic energy sensor to be more than a preset lower limit air direction, the hydraulic pump motor Energy regeneration device for a crane, characterized in that transferring the boosted fluid delivered to the fluid tank through the relief valve.
Using the energy regeneration device for a crane according to claims 1 to 6,
An energy storage step of storing fluid energy generated when the object descends and the winch rotates in the energy regeneration unit;
A regenerative energy use step of raising the object by driving the winch using the energy stored in the energy storage step;
A load sensing step of sensing a change in weight of an object raised and lowered by a winch in the regenerative energy use step;
An optimization control step of controlling the flow rate and pressure of the hydraulic motor pump to an optimum state by adjusting the swash plate angle of the regulator according to the load level sensed in the load sensing step;
And a driving unit operating step of raising the object through the driving unit when the energy stored in the energy recovery unit by the energy used in the regenerative energy use step is less than a predetermined standard.
The method of claim 7,
In the energy storage step, the winch and the first clutch are in contact, and the hydraulic pump motor operates as a pump while the first clutch rotates due to rotation of the winch, and hydraulic energy is stored in the accumulator by the electromagnetic valve. Control method of an energy regeneration device for a crane, characterized in that to let.
The method of claim 7,
In the regenerative energy use step, the winch and the first clutch are in contact, and the hydraulic pump motor operates as a motor through hydraulic energy stored in the accumulator to rotate the winch. Control method.
The method according to any one of claims 7 to 9,
In the operating step of the driving unit, the winch and the second clutch are in contact, and the engine drives the hydraulic motor to receive fluid from the fluid tank and rotates the winch with hydraulic energy generated by the hydraulic motor. Control method of energy regeneration device for crane.

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