Crane energy recovery method, equipment and crane

Abstract

This application relates to the technical field of construction machinery. Specifically, this application provides a crane energy recovery method, device, and a crane. The method includes first obtaining the working condition data of the crane; then determining the first output power data of a preset energy recovery device based on the working condition data; and finally, based on the first output power data, controlling the preset energy recovery device to perform energy recovery during the lowering process of the crane boom. In this way, during the lowering process of the crane boom, the power of potential energy recovery can be adjusted in real time according to the working conditions of the crane, avoiding the situation where when the recovered energy is small, the recovery device still maintains a large recovery power, resulting in a slow lowering speed, affecting the normal operation of the equipment, and serious power consumption; when the recovered energy is large, it can only recover at a fixed no-load power, unable to effectively recover potential energy, thereby improving the energy recovery effect.

Description

Technical Field

[0001] This application relates to the technical field of construction machinery, and particularly to a crane energy recovery method, device, and crane. Background Art

[0002] For construction machinery such as cranes, when lifting a load, the crane's power system needs to provide power to drive the boom, lifting gear, and the load to rise, consuming the crane's energy; while when lowering the load, it generally mainly relies on the gravitational potential energy of the boom, lifting gear, and the load to achieve the descent.

[0003] In the prior art, there is a solution for recovering gravitational potential energy through an accumulator during the process of lowering the load. However, since the weight differences of different loads of the crane are generally large, in the energy recovery solution using the accumulator in the prior art, when the recovered energy is small, the recovery device still maintains a large recovery power, with high power consumption and a slow descent speed, affecting the normal operation of the equipment; when the recovered energy is large, it can still only recover at a fixed no-load power, and cannot effectively recover the potential energy. Summary of the Invention

[0004] In view of this, the present invention is committed to providing a crane energy recovery method, device, and crane.

[0005] In a first aspect, the present invention provides a crane energy recovery method, including:

[0006] Obtain the working condition data of the crane;

[0007] Based on the working condition data, determine the first output power data of a preset energy recovery device;

[0008] Based on the first output power data, control the preset energy recovery device to perform energy recovery during the descent of the boom of the crane.

[0009] Optionally, the working condition data includes one or more of the boom load weight, boom weight, boom descent speed, and equipment attitude;

[0010] The determining the first output power data of the preset energy recovery device based on the working condition data includes:

[0011] Based on the boom load weight, the boom weight, the boom descent speed, and the equipment attitude, determine the value of the energy to be recovered;

[0012] Based on the value of the energy to be recovered, determine the first output power data.

[0013] Optionally, the first output power data includes reverse torque and reverse speed.

[0014] Optionally, determining the first output power data based on the value of the recoverable energy includes:

[0015] When the value of the recoverable energy is less than a preset value, determining the reverse torque as the minimum reverse torque that can enable the preset energy recovery device to completely recover the recoverable energy,

[0016] and determining the reverse speed as the minimum reverse speed that can enable the preset energy recovery device to completely recover the recoverable energy;

[0017] When the value of the recoverable energy is greater than or equal to the preset value, determining the reverse torque as the maximum reverse torque of the preset energy recovery device,

[0018] and determining the reverse speed as the maximum reverse speed of the preset energy recovery device.

[0019] Optionally, the preset value is the maximum energy recovery value of the energy recovery device.

[0020] Optionally, it further includes:

[0021] When the value of the recoverable energy is greater than or equal to the preset value, determining the additional support force value based on the difference between the recoverable energy value and the preset value;

[0022] Based on the additional support force value, controlling the pitch cylinder or the luffing of the crane to provide support force for the boom.

[0023] Optionally, it further includes:

[0024] Determining the second output power data based on the working condition data;

[0025] Based on the second output power data, controlling the preset energy recovery device to push the boom to rise.

[0026] In a second aspect, an embodiment of the present application further provides a crane energy recovery device, including a controller and an energy recovery device;

[0027] The controller is configured to obtain the working condition data of the crane and determine the first output power data of the energy recovery device based on the working condition data;

[0028] The controller is further configured to control the energy recovery device to perform energy recovery during the lowering process of the boom of the crane based on the first output power data.

[0029] Optionally, the energy recovery device includes an electric cylinder or an electric push rod.

[0030] In a third aspect, an embodiment of the present application further provides a crane, including the crane energy recovery device mentioned above.

[0031] The present application provides a crane energy recovery method, device and crane. By obtaining the crane working condition data, the output power of the energy recovery device during the boom lowering process is determined. Thus, during the boom lowering process of the crane, the power of potential energy recovery can be adjusted in real time according to the working conditions of the crane, so as to avoid that when the recovered energy is small, the recovery device still maintains a large recovery power, resulting in a slow lowering speed, affecting the normal operation of the equipment and serious power consumption; when the recovered energy is large, it can only recover at a fixed no-load power and cannot effectively recover potential energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other objects, features and advantages of the present application will become more obvious. The accompanying drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation to the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0033] Figure 1 It is a schematic flowchart of the crane energy recovery method provided by an embodiment of the present invention.

[0034] Figure 2 It is a schematic flowchart of determining the energy recovery power of the energy recovery device in the crane energy recovery method provided by an embodiment of the present application.

[0035] Figure 3 It is a schematic block diagram of the crane energy recovery device provided by an embodiment of the present application.

[0036] Figure 4 It is a schematic structural diagram of the crane energy recovery device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] Application Overview:

[0039] For construction machinery, especially cranes such as reach stackers, when the crane boom lifts a load, power needs to be provided by the crane, such as through fuel and electric energy. During the lowering process of the boom, the lowering can be achieved based on the gravitational potential energy of the boom and the load. During the lowering process of the boom, recovering the gravitational potential energy of the boom and the load can greatly reduce the energy consumption of the crane, thereby achieving the purpose of energy conservation.

[0040] In the prior art, generally, a hydraulic accumulator is used to collect the gravitational potential energy during the lowering process of the boom, thereby achieving energy recovery. However, when collecting energy through a hydraulic accumulator, the recovered power cannot be adjusted according to the load, resulting in low energy recovery efficiency. Moreover, there are many rubber parts in the energy recovery component of the hydraulic accumulator, and the service life is short, affecting the energy recovery effect.

[0041] Method Embodiment:

[0042] Figure 1 Schematic flow diagram of the crane energy recovery method provided by the embodiment of the present invention, as Figure 1 shown, the crane energy recovery method provided by the present application includes:

[0043] S101. Obtain the working condition data of the crane.

[0044] Specifically, the working condition data may include the attitude and load of the equipment such as the crane boom, for example, the load weight of the boom, which of course also includes the weight of the boom itself, as well as the lowering speed of the boom and the equipment attitude, etc. The equipment attitude may include the attitude of the boom. Moreover, since the amount of recovered energy is also related to the angle and position, the equipment attitude may also include the positional relationship between the oil cylinder and the boom, the angular relationship between the oil cylinder and the boom, etc. These can be obtained through preset sensors and control signals.

[0045] It should be noted that in actual applications, the accuracy of recovered energy is generally not exactly the same. Therefore, according to actual needs, the content included in the above working condition data can be adjusted, and the types of the above working condition data can be selected or discarded. For example, in the case of low-precision requirements, the positional and angular relationships between the oil cylinder and the boom are not obtained, or only low-precision positional and angular relationships are obtained. Of course, other data can also be selected or discarded, which will not be elaborated here.

[0046] S102. Determine the first output power data of the preset energy recovery device based on the working condition data.

[0047] Specifically, through calculation based on the above working condition data, the first output power data of the preset energy recovery device such as an electric cylinder or an electric push rod, etc. is obtained. It should be noted that the first output power data is used to characterize the power of the energy recovery device for energy recovery, including the output force of the energy recovery device, such as reverse torque and reverse speed, etc.

[0048] S103. Based on the first output power data, control the preset energy recovery device to perform energy recovery during the lowering process of the boom of the crane.

[0049] Specifically, for a crane such as a reach stacker, when the boom of the crane descends, the lifted load also descends. At this time, the energy recovery device operates according to the first output power data obtained above. For example, it operates according to the reverse torque and reverse speed in the first output power data. Under the action of gravitational potential energy, the motor rotates in reverse, converting the gravitational potential energy of the boom and the lifted load into electrical energy for storage, thereby realizing the recovery of the gravitational potential energy of the boom and the lifted load.

[0050] This application provides a method for energy recovery of a crane. First, obtain the working condition data of the crane including the weight of the boom itself, the weight of the boom load, the descending speed of the boom, and the equipment attitude. Determine the output power of the energy recovery device according to the working condition data of the crane. Thus, during the lowering process of the crane boom, adjust the power of energy recovery according to the calculated result. When the energy to be recovered is small, the energy recovery device reduces the output power to ensure energy recovery while not affecting the normal descent of the boom, and at the same time reduces power consumption and is more energy-efficient; when the energy to be recovered is large, increase the output power of the energy recovery device to recover as much energy as possible, thereby improving the energy recovery effect and achieving the purpose of energy conservation.

[0051] It should be noted that in the embodiments of this application, the energy recovery device can be a device such as an electric cylinder or an electric push rod, integrating the functions of a motor and a reducer, and having a ball screw or a mechanism with the same function. One end of the energy recovery device is connected to the boom of the crane, and the other end is connected to an energy storage device such as a battery. The electric cylinder or the electric push rod recovers the gravitational potential energy of the boom and the lifted load, converts it into electrical energy through the internal motor, and finally stores it in the battery. Because there are fewer transmission links, the energy recovery efficiency is higher. Moreover, because the electric cylinder and the electric push rod can be completely connected by mechanical components to achieve the above functions, compared with the hydraulic accumulator that must use rubber parts in the prior art, the service life is longer, and the later maintenance cost is reduced.

[0052] In addition, the energy recovered by an electric cylinder or an electric push rod is more flexible in use because it is ultimately stored in an energy storage device such as a battery. First, it can act on the electric cylinder or the electric push rod to make the electric cylinder or the electric push rod work during the process of the crane lifting the goods, assisting in lifting the lifted object and other operations. At this time, since the recovery and use are achieved through the same device, the loss of the recovered energy during the transmission process can be reduced, and the energy consumption of the device per unit time can be lowered. Only the second output power data of the electric cylinder or the electric push rod needs to be determined according to the working condition data of the crane. The second output power data is used to characterize the output force of the electric cylinder or the electric push rod using the recovered electric energy to do positive work, including positive torque and positive rotational speed, etc. Secondly, it can also be connected to other mechanisms on the crane through various circuits to supply power to other mechanisms on the crane, etc., improving the utilization of the recovered energy.

[0053] Furthermore, in the embodiment of the present application, when determining the first output power data of the energy recovery device according to the working condition data, the value of the energy to be recovered can be first calculated and determined according to the working condition data, and then based on the value of the energy to be recovered, the appropriate output power of the energy recovery device can be determined.

[0054] For example, when the boom descends, data such as the load and attitude of the crane boom are obtained, such as the weight of the boom and the goods, the descending speed, and the attitude of the boom including the angle, etc. According to this information, through existing calculation formulas, it is calculated how much energy the crane boom has at this time. This energy can only include the gravitational potential energy of the boom (including the mechanisms connected to the boom that also descend, such as the lifting appliance, etc.) and the load. Moreover, since the collected working condition data can also include the descending speed, etc., this energy can also include kinetic energy in addition to the above gravitational potential energy. And the energy to be recovered is the value of how much of the above energy exists.

[0055] After determining the value of the energy to be recovered, according to the relationship between the value of the energy to be recovered and the energy that the energy recovery device can recover, the specific working efficiency data when the energy recovery device recovers energy during the descent of the boom and the lifted object is determined, that is, the first output power data.

[0056] Figure 2 It is a schematic flow chart for determining the energy recovery power of the energy recovery device in the crane energy recovery method provided by the embodiment of the present application, as Figure 2 shown, specifically including:

[0057] S201. Obtain the working condition data of the crane, and determine the value of the energy to be recovered based on the working condition data of the crane.

[0058] S202. Determine whether the value of the energy to be recovered is less than a preset value.

[0059] Specifically, the preset value can be the maximum energy value that an energy recovery device such as the electric cylinder or electric push rod mentioned above can recover. According to the magnitude relationship between the maximum energy recovery value of the energy recovery device and the energy value to be recovered, working parameters of the energy recovery device such as reverse torque and reverse speed are determined. If the value of the energy to be recovered is less than the preset value, step S203 is executed; if the value of the energy to be recovered is not less than the preset value, step S204 is executed.

[0060] S203. Determine the working parameters of the energy recovery device based on the value of the energy to be recovered.

[0061] The first output power data is the working parameter of the energy recovery device during the energy recovery stage. As mentioned above, the energy recovery device can adopt an electric cylinder or an electric push rod, etc. At this time, the first output power data includes reverse torque and reverse speed, etc.

[0062] Specifically, when the value of the energy to be recovered is less than the preset value, that is, the value of the energy to be recovered is less than the maximum energy value that the energy recovery device can recover. At this time, according to the value of the energy to be recovered, the minimum working parameters of the energy recovery device that can completely recover the energy to be recovered are determined, including reverse speed and reverse torque, etc., so as to convert the energy to be recovered, that is, the gravitational potential energy of the boom and the suspended load, into electric energy and store it in the battery on the basis of ensuring the minimum self-energy consumption, without affecting the lowering of the boom and the suspended load, and further realizing energy consumption savings.

[0063] For example, when the preset value is 100 Kj and the energy to be recovered is 50 Kj, if the parameters of the energy recovery device are set to recover 60 Kj at this time, the energy recovery device can only recover 50 Kj, and because the output torque is large, it will also hinder the lowering of the boom and the suspended load. In this solution, when the value of the energy to be recovered is less than the preset value, that is, the value of the energy to be recovered is less than the maximum energy value that the energy recovery device can recover. At this time, according to the value of the energy to be recovered, the minimum working parameters of the energy recovery device that can completely recover the energy to be recovered are determined. In this example, it is the reverse torque and reverse speed corresponding to the energy of 50 Kj that can be recovered. At this time, not only can it ensure the complete recovery of the energy to be recovered, but also the output can be adjusted to the lowest level, reducing its own power consumption, and not affecting the lowering of the boom and the suspended load.

[0064] S204. Determine the maximum output power of the preset energy recovery device.

[0065] Specifically, when the value of the energy to be recovered is greater than or equal to (not less than) the preset value, that is, the energy to be recovered has exceeded the energy recovery limit of the energy recovery device. At this time, even when the energy recovery device is at its maximum working efficiency, it still just fully recovers or still cannot fully recover the energy to be recovered. At this time, the output power parameters of the energy recovery device, such as reverse torque and reverse speed, are adjusted to the maximum, so as to recover as much energy as possible.

[0066] In some embodiments, the above preset value can be the maximum energy recovery value of the energy recovery device. That is, when the energy to be recovered is less than the maximum energy recovery value of the energy recovery device, the power of the energy recovery device is adjusted based on the energy to be recovered; when the energy to be recovered is greater than or equal to the maximum energy recovery value of the energy recovery device, the energy recovery device is directly made to output the maximum power to recover as much energy as possible.

[0067] Based on the above embodiments of the present application, other oil cylinders can also be provided on the crane as the main oil cylinder, which can be a pitching oil cylinder or a luffing oil cylinder, including a hydraulic oil cylinder or an electric oil cylinder with larger parameters. While the electric oil cylinder or electric push rod is used as the energy recovery device to assist the boom to rise or fall, the main oil cylinder provides the main force for the boom to rise and fall, and when the value of the energy to be recovered is greater than the energy recovery limit of the energy recovery device, the pitching oil cylinder provides power such as a supporting force to the boom.

[0068] Specifically, the power provided by the pitching oil cylinder or the luffing oil cylinder includes the specific value of the supporting force, which can be the difference between the value of the energy to be recovered, that is, the total energy of the boom and the lifted object, and the energy that the electric cylinder or electric push rod of the energy recovery device can recover, after unit conversion. That is to say, during the boom lowering process, first, the electric cylinder or electric push rod of the energy recovery device provides support to recover the potential energy of the boom and the lifted object. When the potential energy of the boom and the lifted object is greater than the maximum recovery energy of the electric cylinder or electric push rod, that is, when the electric cylinder or electric push rod cannot provide a complete supporting force, the pitching oil cylinder determines the supporting force to be provided according to the difference between the two, and supports the boom, so as to ensure the safe operation of the crane.

[0069] It should be noted that in some embodiments, of course, the size of the electric cylinder or electric push rod in the energy recovery device can also be increased, the energy recovery upper limit of the electric cylinder or electric push rod can be increased, and its reduction ratio and maximum output force can be improved, etc., so that it is not necessary to set the above-mentioned pitching oil cylinder, and only by adjusting the working parameters of the electric cylinder or electric push rod, the requirements of different working conditions of the crane can be met. Moreover, a speed reducer may not be integrated in the above-mentioned electric cylinder or electric push rod, as long as a ball screw mechanism or other mechanisms can be used to meet the conversion mechanism for the motor rotation and linear motion.

[0070] In some specific embodiments, the electric push rod or electric cylinder can serve as both an energy recovery device and an auxiliary support component. As mentioned in the above embodiments, on a crane, a pitching oil cylinder or a luffing oil cylinder for mainly supporting the boom can be provided, as well as an auxiliary electric cylinder or an auxiliary electric push rod. That is to say, on the crane, there are provided a pitching oil cylinder or a luffing oil cylinder mainly used to realize the ascending and descending of the crane boom and other actions, and at the same time, there are also provided an auxiliary electric cylinder or an auxiliary electric push rod that takes into account energy recovery and assists in the ascending and descending of the crane boom and other actions. At this time, the working states of the above two mechanisms can be controlled separately by a controller. The controller can be a separately provided controller connected to the above two mechanisms, or it can be the original vehicle controller on the crane. The specific working principle is divided into the following three cases according to different states of the crane boom:

[0071] 1. When the crane boom is in a stationary state: The controller controls the pitching oil cylinder or the luffing oil cylinder to hold. The pitching oil cylinder or the luffing oil cylinder maintains the cylinder posture through the hydraulic system holding valve and control strategy, provides the main support function for the boom, and prevents the boom from falling due to gravity. At the same time, the controller can control the motor in the auxiliary electric cylinder or the auxiliary electric push rod to be in a stopped state, so that the auxiliary electric cylinder or the auxiliary electric push rod does not consume electric energy and waits for an operation instruction.

[0072] 2. During the ascending process of the crane boom: After receiving the boom ascending instruction, the controller controls the pitching oil cylinder or the luffing oil cylinder and its attached system to realize the lifting of the boom.

[0073] At this time, for the auxiliary electric cylinder or the auxiliary electric push rod, there can be two working modes. First, the controller can calculate the most suitable output torque and rotational speed of the auxiliary electric cylinder or the auxiliary electric push rod according to the working condition data such as the posture, load, and ascending speed of the equipment, and control the battery to provide electric energy for the auxiliary electric cylinder or the auxiliary electric push rod, so that the auxiliary electric cylinder or the auxiliary electric push rod does positive work according to the calculated torque and rotational speed under the highest efficiency condition, and provides part of the power for the ascending of the boom.

[0074] Secondly, the controller can also send a stop instruction to the auxiliary electric cylinder or the auxiliary electric push rod according to the actual situation. At this time, the auxiliary electric cylinder or the auxiliary electric push rod remains stopped, and the auxiliary electric cylinder or the auxiliary electric push rod is driven to rise during the ascending process of the crane boom. During the ascending period, only the friction of the auxiliary electric cylinder or the auxiliary electric push rod needs to be overcome, and relatively little energy is consumed.

[0075] 3. During the descending process of the crane boom: After receiving the boom descending instruction, the controller first obtains the crane working condition data, including the working conditions such as the posture, load, and descending speed of the equipment, and conducts analysis and calculation.

[0076] If the calculation result shows that the maximum energy recovered by the auxiliary electric cylinder or the auxiliary electric push rod is greater than the energy of the boom and the lifted load, in other words, when the maximum output force of the auxiliary electric cylinder or the auxiliary electric push rod is greater than the force generated by the boom and the load during the lowering process, the controller controls the auxiliary electric cylinder or the auxiliary electric push rod to recover energy according to the minimum working parameters calculated for the auxiliary electric cylinder or the auxiliary electric push rod to recover the potential energy of the boom and the lifted load, where the working parameters include reverse torque and reverse speed, etc. In this case, the auxiliary electric cylinder or the auxiliary electric push rod can fully recover the potential energy of the boom and the lifted load, and finally convert the potential energy into electrical energy and store it in an energy storage device such as a battery. At this time, the lowering speed of the boom is completely controlled by the auxiliary electric cylinder or the auxiliary electric push rod to maximize the recovery of the potential energy of the boom and the lifted load. The pitch cylinder or the luffing cylinder only needs to remain in a floating state without sharing the potential energy of the boom and the lifted load or providing support to the boom.

[0077] If the calculation result shows that the maximum energy recovered by the auxiliary electric cylinder or the auxiliary electric push rod is less than or equal to the energy of the boom and the lifted load, in other words, when the maximum output force of the auxiliary electric cylinder or the auxiliary electric push rod is less than or equal to the force generated by the boom and the load during the lowering process, the controller controls the auxiliary electric cylinder or the auxiliary electric push rod to operate at maximum power, outputting the maximum reverse torque and the maximum reverse speed, so as to recover the potential energy of the boom and the lifted load at maximum power. At the same time, the controller calculates the energy that needs to be distributed by the pitch cylinder or the luffing cylinder according to the difference between the potential energy of the boom and the lifted load and the potential energy recovered by the auxiliary electric cylinder or the auxiliary electric push rod, that is, the support force that the pitch cylinder or the luffing cylinder needs to provide, and sends an instruction to control the pitch cylinder or the luffing cylinder to provide additional support to the boom. In this case, the pitch cylinder or the luffing cylinder and the auxiliary electric cylinder or the auxiliary electric push rod jointly share the force generated by the boom and the lifted load, ensuring the safe operation of the crane while recovering energy and ensuring that the auxiliary electric cylinder or the auxiliary electric push rod will not be damaged due to excessive force.

[0078] Device Embodiment:

[0079] Figure 3 It is a schematic diagram of the modules of the crane energy recovery device provided by the embodiment of the present application. Figure 4 It is a schematic structural diagram of the crane energy recovery device provided by the embodiment of the present application. As Figure 3 and Figure 4 shown, the crane energy recovery device provided by the embodiment of the present application includes a controller 1 and an energy recovery device 2;

[0080] The controller 1 is used to obtain the working condition data of the crane and determine the first output power data of the energy recovery device 2 based on the working condition data. The controller 1 is also used to control the energy recovery device 2 to recover energy during the lowering process of the boom of the crane based on the first output power data.

[0081] Specifically, the controller 1 can be a separately provided controller or the original vehicle controller of the crane. The energy recovery device 2 can be an electric cylinder or an electric push rod. The controller compares the potential energy to be recovered with the maximum energy recovery value of the energy recovery device according to the working condition data. When the potential energy to be recovered is less than the maximum energy recovery value of the energy recovery device, the controller controls the energy recovery device to work with the minimum power that can completely recover the potential energy to be recovered, such as outputting the corresponding reverse torque and reverse speed, so as to save energy consumption. When the potential energy to be recovered is greater than or equal to the maximum energy recovery value of the energy recovery device, the controller 1 controls the energy recovery device 2 to work with its maximum power, such as outputting the maximum reverse torque and maximum reverse speed, so as to recover as much energy as possible.

[0082] It should be noted that the above-mentioned electric cylinder or electric push rod integrates the functions of a motor and a speed reducer, and includes a ball screw mechanism or other mechanisms with the same function. Thus, the energy can be recovered by controlling the motor to output reverse torque and reverse speed, and the forward torque and forward speed can be output to do work when the boom of the crane rises or stops. Moreover, since it can be all realized through mechanical structures, the durability of the equipment is greatly improved and the maintenance cost is reduced.

[0083] Furthermore, the crane energy recovery device provided in the embodiment of the present application further includes a battery 3. The battery 3 is connected to the energy recovery device 2, receives the electric energy converted from the recovered energy of the energy recovery device 2, and provides electric energy to the energy recovery device 2 and other mechanisms on the crane. The energy is recovered through the electric cylinder or electric push rod and stored through the battery 3, reducing the transmission link and improving the energy recovery efficiency.

[0084] In addition, a pitching oil cylinder 4 can be added, which is respectively connected to the controller 1 and the boom, and is used to provide power to the boom when the boom is in a stopped state, during the rising process of the boom, and when the force of the boom and the suspended load is greater than the maximum output force of the electric cylinder or electric push rod during the lowering of the boom, so as to ensure the normal operation of the crane and protect the electric cylinder or electric push rod device. Among them, the pitching oil cylinder 4 can also be a luffing oil cylinder, and can be a hydraulic oil cylinder or an electric oil cylinder.

[0085] Crane Embodiment:

[0086] Based on the same inventive concept, this application also provides a crane, which can be a reach stacker, etc., including the crane energy recovery device provided in the above device embodiment. By obtaining the working condition data of the crane, the output power of the energy recovery device is determined, so that during the lowering process of the crane boom, the power of potential energy recovery can be adjusted in real time according to the working conditions of the crane. This avoids the problems that when the potential energy to be recovered is small, the device still maintains a high power and consumes a large amount of energy, and when the potential energy to be recovered is large, it is easy to damage the components of the recovery device, thereby improving the energy recovery effect. Moreover, since the energy recovery device uses an electric cylinder or an electric push rod integrating a motor, a speed reducer, and a ball screw mechanism, the structure is simple and durable, greatly improving the service life of the energy recovery device. Furthermore, the electric energy is directly stored in the battery, reducing the transmission link and further improving the energy recovery efficiency.

[0087] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for recovering energy of a crane, characterized in that, Including: Obtain the working condition data of the crane; the working condition data includes one or more of the boom load weight, boom weight, boom lowering speed, and equipment attitude; Determine the first output power data of the preset energy recovery device based on the working condition data; The first output power data includes reverse torque and reverse speed; The determining the first output power data of the preset energy recovery device based on the working condition data includes: Determine the value of the energy to be recovered based on the boom load weight, the boom weight, the boom lowering speed, and the equipment attitude; Determine the first output power data based on the value of the energy to be recovered; The determining the first output power data based on the value of the energy to be recovered includes: When the value of the energy to be recovered is less than the preset value, determine the reverse torque as the minimum reverse torque that can enable the preset energy recovery device to completely recover the energy to be recovered, and determine the reverse speed as the minimum reverse speed that can enable the preset energy recovery device to completely recover the energy to be recovered; When the value of the energy to be recovered is greater than or equal to the preset value, determine the reverse torque as the maximum reverse torque of the preset energy recovery device, and determine the reverse speed as the maximum reverse speed of the preset energy recovery device; the preset value is the maximum value of the energy recovery of the energy recovery device; Based on the first output power data, control the preset energy recovery device to recover energy during the lowering process of the boom of the crane.

2. The crane energy recovery method according to claim 1, characterized in that Also including: When the value of the energy to be recovered is greater than or equal to the preset value, determine the additional support force value based on the difference between the value of the energy to be recovered and the preset value; Based on the additional support force value, control the pitch cylinder or the luffing cylinder of the crane to provide support force for the boom.

3. The crane energy recovery method according to claim 1, wherein, Also including: Determine the second output power data based on the working condition data; Based on the second output power data, control the preset energy recovery device to push the boom to rise.

4. A crane energy recovery device, which is applied to the crane energy recovery method described in any one of claims 1-3, and is characterized in that, Including a controller and an energy recovery device; The controller is used to obtain the working condition data of the crane and determine the first output power data of the energy recovery device based on the working condition data; The controller is also used to control the energy recovery device based on the first output power data to recover energy during the lowering process of the boom of the crane.

5. The crane energy recovery device according to claim 4, characterized in that, The energy recovery device includes an electric cylinder or an electric push rod.

6. A crane, characterized in that, Including the crane energy recovery device according to any one of claims 4-5.

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