Potential energy recovery method, system and engineering machine

Abstract

The application relates to the technical field of engineering machinery, and particularly relates to a potential energy control method, a system and engineering machinery. The potential energy recovery method comprises the following steps: firstly, obtaining working condition information of the engineering machinery; then, based on the working condition information, determining a target maximum output value that can make a boom of the engineering machinery complete automatic falling; and finally, controlling the preset potential energy recovery device to work according to an actual output value that is less than or equal to the target maximum output value. In this way, a larger potential energy recovery device can be installed on the engineering machinery. During the falling process of the boom, when the potential energy of the boom is large, the potential energy recovery device is adjusted to a larger maximum output value, the amount of potential energy recovery is increased; when the potential energy of the boom is small, the potential energy recovery device is adjusted to a smaller maximum output value, the back pressure is prevented from being too large, the boom cannot be lowered, and thus the fuel of the engineering machinery is prevented from being additionally consumed for lowering the boom, and the effect of potential energy recovery can be improved for different working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a potential energy recovery method, system and engineering machinery. BACKGROUND

[0002] For engineering machinery with a boom, during the boom lowering process, the potential energy of the engineering machinery, such as gravitational potential energy, can be recovered and reused by a preset potential energy recovery device, thereby saving the fuel consumption of the engineering machinery and achieving the effect of energy saving and emission reduction.

[0003] In the prior art, because the type and size of the potential energy recovery device, such as an accumulator and an energy-saving oil cylinder combination, installed on the engineering machinery are fixed, the force (back pressure) that can be output by the potential energy recovery device for energy recovery is fixed during the potential energy recovery process. However, when the type of the potential energy recovery device is too small, the energy that can be recovered is small, and the energy-saving effect is not obvious; when the type of the potential energy recovery device is too large, in some working conditions, because the back pressure output by the energy recovery device is too large, the boom cannot be automatically lowered, and instead the engineering machinery needs to consume additional fuel to complete the lowering of the boom, which not only cannot save energy but also increases fuel consumption. Therefore, in the prior art, the potential energy recovery device has the problem of poor potential energy recovery effect. SUMMARY

[0004] Therefore, the present application is devoted to providing a potential energy recovery method, device and engineering machinery.

[0005] In a first aspect, the present application provides a potential energy recovery method, comprising:

[0006] obtaining working condition information of the engineering machinery;

[0007] determining a target maximum output value of a preset energy recovery device based on the working condition information, the target maximum output value being a maximum output value of the preset energy recovery device that can enable the boom of the engineering machinery to complete automatic falling;

[0008] controlling the preset potential energy recovery device to work at an actual output that is less than or equal to the target maximum output value.

[0009] Optionally, the working condition information includes one or more of boom information, load weight and a first acting force, the first acting force being a maximum value of the force that can be output by the preset energy recovery device for energy recovery.

[0010] The boom information includes one or more of a boom angle, a boom height, a boom length, a boom weight and a relative position of the boom and the load.

[0011] Optionally, the boom information includes the boom weight and the boom angle.

[0012] determining a target maximum output value of the preset energy recovery device based on the working condition information, includes:

[0013] determining a second force based on the arm support weight, the arm support angle, the load weight, and the relative position of the arm support and the load, the second force being a maximum force exerted by the arm support on the preset energy recovery device in a case where the arm support is capable of automatic falling;

[0014] when the first force is greater than or equal to the second force, determining the target maximum output value based on the second force; the target maximum output value being less than a value of the second force;

[0015] when the first force is less than the second force, taking a value of the first force as the target maximum output value.

[0016] Optionally, the arm support angle includes an arm support initial angle, the arm support initial angle being an angle of the arm support at a time when the arm support starts to fall.

[0017] determining a second force based on the arm support weight, the arm support angle, the load weight, and the relative position of the arm support and the load, includes:

[0018] determining the second force based on the arm support weight, the arm support initial angle, the load weight, and the relative position of the arm support and the load.

[0019] Optionally, the arm support information includes an arm support weight and an arm support angle, the arm support angle including an arm support real-time angle, the arm support real-time angle and the first force being acquired in real time and continuously during arm support descending.

[0020] determining a target maximum output value of the preset energy recovery device based on the working condition information, includes:

[0021] determining a second force at a current time based on an arm support real-time angle at the current time;

[0022] when the first force at the current time is greater than or equal to the second force at the current time, determining a target maximum output value at the current time based on the second force at the current time; the target maximum output value at the current time being less than a value of the second force at the current time;

[0023] when the first force at the current time is less than the second force at the current time, taking a value of the first force at the current time as the target maximum output value at the current time.

[0024] Optionally, the controlling the preset potential energy recovery device to work according to the actual output value less than or equal to the target maximum output value comprises:

[0025] When the real-time output value at the current time is greater than the target maximum output value at the current time, the maximum output value of the preset potential energy recovery device is reduced until the maximum output value is less than the target maximum output value at the current time.

[0026] Optionally, the reducing the maximum output value of the preset potential energy recovery device comprises reducing the overflow pressure value of the preset energy recovery device.

[0027] In a second aspect, the embodiments of the present application further provide a potential energy recovery system, comprising a detection module, a control module and an energy recovery device;

[0028] The detection module is configured to acquire working condition information of the engineering machinery.

[0029] The control module is configured to determine a target maximum output value of the energy recovery device based on the working condition information, the target maximum output value being a maximum output value of the energy recovery device that enables the boom of the engineering machinery to complete automatic falling.

[0030] The control module is further configured to control the potential energy recovery device to work according to an actual output value less than or equal to the target maximum output value.

[0031] Optionally, the system further comprises an electric proportional overflow valve connected with the potential energy recovery device.

[0032] The control module is configured to change the overflow pressure value of the potential energy recovery device by changing the current of the electric proportional overflow valve, so as to change the output of the potential energy recovery device.

[0033] In a third aspect, the present application further provides an engineering machinery comprising the engineering machinery potential energy recovery system as described above.

[0034] The application provides a potential energy control method, system and engineering machinery. The potential energy recovery method comprises the following steps: obtaining working condition information of the engineering machinery; determining a target maximum output value which enables the boom of the engineering machinery to automatically fall based on the working condition information; and controlling the preset potential energy recovery device to work according to an actual output which is less than or equal to the target maximum output value. In this way, a larger potential energy recovery device can be installed on the engineering machinery. During the falling process of the boom, when the potential energy of the boom is large, the potential energy recovery device is adjusted to a larger maximum output value, so that the amount of potential energy recovery is increased; when the potential energy of the boom is small, the potential energy recovery device is adjusted to a smaller maximum output value, so that the back pressure is not too large, the boom cannot be lowered, and the fuel of the engineering machinery is not consumed for lowering the boom, and the effect of potential energy recovery is improved for different working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0035] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0036] Figure 1 A flowchart of the potential energy recovery method provided by the embodiment of the present application.

[0037] Figure 2 A flowchart of determining the target maximum output value in the potential energy recovery method provided by the embodiment of the present application.

[0038] Figure 3 A flowchart of determining the target maximum output value in the potential energy recovery method provided by another embodiment of the present application.

[0039] Figure 4 A structural diagram of the potential energy recovery system provided by the embodiment of the present application.

[0040] Figure 5 A specific structural diagram of the potential energy recovery system provided by the embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0042] Summary of the application:

[0043] For some engineering machinery with an arm support, such as a excavator, a grab, a reach stacker, etc., the posture of the arm support includes height, length, angle, etc., which can be changed. When the posture of the arm support changes, the potential energy of the arm support, such as gravitational potential energy, can be recovered by a potential energy recovery device, and then the recovered energy is released during the lifting of the arm support to assist the arm support to realize lifting, thereby saving the consumption of fuel of the engineering machinery and realizing energy saving and emission reduction.

[0044] In the prior art, a potential energy recovery device is generally composed of an energy-saving oil cylinder, an accumulator and a connecting circuit to realize the function of potential energy recovery. For example, the accumulator is connected with the arm support of the engineering machinery through the energy-saving oil cylinder, and the accumulator and the energy-saving oil cylinder have a maximum output value corresponding to their model size. During the potential energy recovery process, a force opposite to the descending direction of the arm support, i.e. back pressure, is output, which becomes larger and larger with the descending degree of the arm support, and the amount of potential energy recovery also becomes larger and larger. However, the back pressure has a maximum value, which corresponds to the model size of the energy-saving oil cylinder and the accumulator.

[0045] When the model size of the energy-saving oil cylinder and the accumulator is too small, the maximum back pressure is small, and the recoverable potential energy is small. In some working conditions where more potential energy can be recovered, such as a far arm support, the potential energy recovery device cannot completely recover the potential energy, and the energy saving effect is not obvious. When the model size of the energy-saving oil cylinder and the accumulator is too large, the maximum back pressure is large, and the recoverable potential energy is large. However, in some working conditions where less potential energy can be recovered, such as a near arm support, the arm support cannot overcome the huge back pressure of the potential energy recovery device, resulting in that the arm support cannot normally fall, and the engineering machinery has to consume additional fuel to overcome the back pressure and help the arm support to fall, thereby increasing energy consumption.

[0046] Moreover, because the model size of the energy-saving oil cylinder and the accumulator is fixed after being installed on the engineering machinery, and the working conditions of the engineering machinery are variable (including the above-mentioned working conditions of the far arm support and the near arm support), the potential energy recovery device in the prior art cannot meet the energy saving needs of different working conditions of the engineering machinery, and the energy saving effect is poor.

[0047] Method embodiments:

[0048] Figure 1 The flowchart of the potential energy recovery method provided by the embodiment of the present application is shown in FIG. 1. Figure 1 The potential energy recovery method provided by the embodiment of the present application includes the following steps.

[0049] S101, obtaining working condition information of the engineering machinery.

[0050] Specifically, the working condition information includes information used to determine the arm potential energy or information used to determine the effect of the force (e.g., torque, etc.) exerted by the arm on the potential energy recovery device or other parts. For different types of engineering machinery, the specific types of the above working condition information also have certain differences. For example, for a excavator, the working condition information can include arm information and load weight, and the arm information can include at least one of an arm angle, an arm height, an arm length, an arm weight, and a relative position between the arm and the load.

[0051] S102, determining a target maximum output value of the preset energy recovery device based on the working condition information.

[0052] S103, controlling the preset potential energy recovery device to work at an actual output less than or equal to the target maximum output value.

[0053] The target maximum output value is the maximum output value of the preset energy recovery device that enables the arm of the engineering machinery to automatically fall.

[0054] Specifically, after the arm potential energy or the force effect is determined, whether the arm can automatically fall can be determined according to the currently set potential energy recovery amount of the potential energy recovery device or the maximum back pressure of the output thereof (both correspond to each other, i.e., the size of the back pressure determines the amount of energy that can be recovered). Therefore, based on ensuring that the arm can automatically fall, there is a certain mathematical relationship between the arm potential energy and the maximum potential energy recovery amount of the energy recovery device, or between the force generated by the arm and the back pressure of the potential energy recovery device. For example, based on ensuring that the arm can automatically fall, the arm potential energy must be greater than or equal to the maximum potential energy recovery amount of the energy recovery device, or the force generated by the arm must be greater than or equal to the back pressure of the potential energy recovery device.

[0055] In the present application, based on the above theoretical basis, the target maximum output value of the energy recovery device that enables the arm to fall is calculated through the arm potential energy or the force. When the current actual output of the potential energy recovery device is less than or equal to the target maximum output value, the current actual output is maintained; when the current actual output of the potential energy recovery device is greater than the target maximum output value, the maximum value of the current output is reduced or the current output value is directly reduced, so that the actual output of the potential energy recovery device is ultimately less than or equal to the target maximum output value. In this way, during the arm lowering process, when the recoverable energy is large, the arm can automatically and completely fall, and a large amount of potential energy can be recovered; when the recoverable energy is small, the arm can also automatically and completely fall, and the engineering machinery does not need to consume additional fuel to help the arm to fall. Compared with the prior art, energy consumption is also saved, and the purpose of effectively improving the energy saving effect for different working conditions is achieved.

[0056] It should be noted that in the above judgment of whether the arm frame can automatically fall, the effective falling torque generated by the arm frame and the load can be calculated to determine whether the arm frame can automatically complete the falling. In the actual calculation process, the weight of the arm frame itself and the weight of the load on the arm frame are not simply summed up, but the arm frame posture and the relative position of the arm frame and the load are considered to obtain the accurate effective torque. Among them, the load can not only include the gravity load, but also include the load of other direction force, and when only considering the gravity load, the relative position of the arm frame and the load can be simplified as the horizontal position.

[0057] Figure 2 is a flowchart of determining a target maximum output value in the potential energy recovery method provided by the embodiment of the present application, as shown in Figure 2 , the process includes:

[0058] S201, determining a second acting force based on one or more of the arm frame information, the load weight and the relative position of the arm frame and the load.

[0059] Among them, the second acting force is the maximum acting force that the arm frame can exert on the preset energy recovery device to complete the automatic falling.

[0060] Specifically, to calculate whether the arm frame can complete the falling, it is necessary to determine whether the arm frame can overcome the back pressure of the potential energy recovery device, so the size of the acting force exerted by the arm frame on the preset energy recovery device can be determined first, and then the second acting force can be determined. In some embodiments of the present application, the second acting force and the effect of the action, such as the torque of the arm frame relative to the rotation center of the arm frame, can be calculated by directly detecting through a pressure sensor, detecting the angle of the arm frame through an angle sensor, and cooperating with the weight of the arm frame, the weight of the load and the relative position of the arm frame and the load.

[0061] It should be noted that because the engineering machinery may have a load on the arm frame during operation, the weight of the arm frame itself and the weight of the load on the arm frame are included in the working condition data in the present application. The arm frame angle can include the large arm angle and the small arm angle (when the large arm angle is constant, the torque of the arm frame relative to the rotation center changes with the small arm angle).

[0062] S202, judging whether the first acting force is greater than or equal to the first acting force, if yes, executing S203, if no, executing S204.

[0063] S203, determining a target maximum output value based on the second acting force.

[0064] S204, when the first acting force is less than the second acting force, taking the value of the first acting force as the target maximum output value.

[0065] Among them, the target maximum output value is less than the value of the second acting force.

[0066] Specifically, first, the first force is the maximum force for energy recovery that the preset energy recovery device can output, that is, the maximum back pressure that the preset energy recovery device can output, and the first force can be obtained in the form of working condition information, including measurement or direct reading from the preset device. It should be noted that because of the relationship between the volume of hydraulic oil inside the energy recovery device during the lowering of the boom, the back pressure output by the energy recovery device is constantly increasing. Therefore, if the above-mentioned second force is greater than the back pressure of the energy recovery device at a certain moment, it can only ensure that the boom can perform a lowering action at that moment, and cannot guarantee that the boom can completely fall. To ensure that the boom can completely fall, the second force must be greater than the maximum back pressure that the energy recovery device can output, so that the energy recovered by the potential energy recovery device reaches its maximum storage value.

[0067] Therefore, to ensure whether the boom can complete the falling, the above-mentioned first force needs to be compared, and when the first force is greater than or equal to the second force, that is, the maximum force (back pressure) output by the potential energy recovery device is greater than the maximum force exerted by the boom, at this time, the actual output of the potential energy recovery device can only be reduced, and the output of the potential energy recovery device is smaller than the first force, that is, the target maximum output value is set to be smaller than the second force, thereby ensuring that the boom automatically falls.

[0068] When the first force is less than the second force, that is, the maximum force (back pressure) output by the potential energy recovery device is less than the maximum force exerted by the boom, at this time, the boom can complete the automatic falling, and the output of the potential energy recovery device does not need to be changed, so the current actual output of the potential energy recovery device can be maintained. Because the current actual output of the potential energy recovery device corresponds to the first force output by it, the first force can be directly used as the target maximum output value, and the boom can still automatically fall without consuming additional fuel.

[0069] In some embodiments of the present application, the boom information can be obtained in various ways, and then based on the boom information, the load weight, and the relative position of the boom and the load, the above-mentioned second force can be determined. For example, by detecting the boom angle when the boom starts to fall, that is, the initial boom angle, the second force and the effect of the force such as torque can be calculated according to the initial boom angle and a preset mathematical formula, and compared with the maximum back pressure of the potential energy recovery device. If it is greater than the maximum back pressure of the potential energy recovery device, the output of the potential energy recovery device is not reduced, and the output is maximized, so as to recover as much potential energy of the boom as possible on the basis of ensuring that the boom automatically falls. If it is less than the maximum back pressure of the potential energy recovery device, the output of the potential energy recovery device is reduced, for example, by reducing the maximum output value to limit the size of the actual output, so as to ensure that the boom can automatically fall.

[0070] In some other embodiments of the present application, the output of the potential energy recovery device can also be determined in real time by monitoring the arm angle in real time, and the process is as shown in the following figure, which comprises the following steps: Figure 3

[0071] S301, determine the second force at the current moment based on the real-time angle of the arm at the current moment.

[0072] Specifically, the angle information of the arm at the current moment is obtained to obtain the real-time angle of the arm at the current moment, and then the second force at the current moment is determined according to the real-time angle of the arm at the current moment and other information mentioned above.

[0073] S302, if the first force at the current moment is greater than or equal to the second force at the current moment, execute S303; otherwise, execute S304.

[0074] S303, determine the target maximum output value at the current moment based on the second force at the current moment.

[0075] Wherein, the target maximum output value at the current moment is less than the value of the second force at the current moment.

[0076] S304, take the value of the first force at the current moment as the target maximum output value at the current moment.

[0077] In actual application, due to the changeable working environment, when the arm angle changes, the second force may change. Based on the real-time acquisition of the arm angle, the second force at a certain moment is determined, and the second force at the moment is compared with the first force at the moment to determine whether the arm can complete the falling at the moment, so as to determine whether to change the output of the potential energy recovery device and obtain a new target maximum output value. By actually collecting the arm angle, the target maximum output value is determined in real time, which can determine a more accurate output value in the process of comparing the angle change, so as to ensure that the arm can realize automatic falling in the process of potential energy recovery, ensure the normal operation of the engineering machinery, avoid the need for the engineering machinery to consume additional fuel, help the arm to descend, and save energy.

[0078] It should be noted that the above-mentioned second force is the maximum force exerted by the arm on the potential energy recovery device to ensure that the arm can complete automatic falling. This force can be calculated and determined by detecting the force exerted by the arm on the potential energy recovery device through the pressure sensor during the descending process of the arm, including the descending starting position to the descending final position and other positions in the process, and the second force is calculated through a preset formula.

[0079] ​In some other embodiments of the present application, in order to make the calculation process simpler, the force of the arm frame on the potential energy recovery device detected during the arm frame falling process can also be directly compared with the first force, and when the first force is greater than or equal to the force exerted by the arm frame on the potential energy recovery device, the target maximum output of the arm frame on the potential energy recovery device is determined based on the force exerted by the arm frame on the potential energy recovery device, and when the first force is less than the force exerted by the arm frame on the potential energy recovery device, the first force is taken as the target maximum output value.

[0080] In actual applications, because the force (back pressure) output by the potential energy recovery device changes with the force exerted by the arm frame in real time, it is not easy to control the force output by the potential energy recovery device in real time. In some other embodiments of the present application, the output upper limit of the potential energy recovery device can be adjusted to make the actual output of the potential energy recovery device not increase after reaching the output upper limit, so as to control the output of the potential energy recovery device and achieve the purpose of controlling the real-time output of the potential energy recovery device. After the real-time output of the potential energy recovery device is controlled to be less than the second force, it is ensured that the arm frame can automatically fall. For example, the overflow pressure value in the energy recovery device is reduced, so that the output upper limit of the energy recovery device is reduced.

[0081] System embodiments:

[0082] Based on the same inventive concept, the embodiments of the present application also provide a potential energy recovery system, as shown in Figure 4 The system comprises a detection module 41, a control module 42 and an energy recovery device 43.

[0083] The detection module 41 is used to acquire the working condition information of the engineering machinery, for example, the detection module 41 can comprise an angle sensor and a pressure sensor and the like, which are used to detect the arm frame information, the load weight and the pressure of the energy recovery device and the like.

[0084] The control module 42 is used to determine the target maximum output value of the energy recovery device 43 based on the working condition information, and control the potential energy recovery device 43 to work according to the actual output less than or equal to the target maximum output value.

[0085] The target maximum output value is the output value of the energy recovery device 43 that can make the arm frame of the engineering machinery complete automatic falling.

[0086] Figure 5 is a specific structure diagram of the potential energy recovery system provided by the embodiments of the present application, and specifically is a structure schematic diagram of the potential energy recovery system taking an excavator as an example, as shown in Figure 5 The system comprises an energy-saving oil cylinder 1, an accumulator 2 and an electric proportional overflow valve 3, and a sensor 4 for detecting the pressure of the accumulator.

[0087] In order to more clearly embody the operation principle of the potential energy recovery system provided by the embodiments of the present application, the operation principle of the potential energy recovery system is shown in the following Figure 5 The basic devices for the operation of the potential energy recovery system are also shown, including a first oil pump 5, a first multi-way valve reversing joint 6, a second multi-way valve reversing joint 7, a liquid filling switch valve 8, a large arm oil cylinder 9, a small arm oil cylinder 10, a one-way valve 11, a second oil pump 12, an oil tank 13, and a controller 14.

[0088] Firstly, it needs to be explained that the electric proportional overflow valve 3 can control the overflow pressure of the accumulator 2 by the current size of the electric proportional overflow valve 3, that is, control the maximum output of the accumulator 2, that is, the pressure output by the accumulator 2 for potential energy recovery. As mentioned in the above method embodiments, the relationship between the maximum output of the accumulator 4 and the automatic falling of the boom can be determined by detecting the boom angle information and the maximum output of the accumulator, and the maximum output value of the accumulator 4 that can ensure the completion of the automatic falling of the boom is determined. The maximum output value of the accumulator 4 is controlled by the electric proportional overflow valve 3. Specifically, when the electric proportional valve 3 controls the accumulator and the accumulator circuit to start overflowing, the output of the accumulator 4 will not change any more. At this moment, the pressure output by the accumulator 4 is the maximum output of the accumulator 4.

[0089] Based on the above theory, before the operation of the engineering machinery, a characteristic curve can be established according to the collected historical boom angle (including the large arm angle and the small arm angle) and the current of the electric proportional overflow valve 4. During the boom descending process, the current of the electric proportional overflow valve 4 is controlled based on the boom angle to change the overflow pressure of the accumulator 4 and the accumulator circuit, so as to ensure that the boom can complete the automatic falling.

[0090] In a complete engineering machinery operation process, first, when the large arm of the engineering machinery boom is lifted to a certain angle, the sensor 4 detects the pressure of the accumulator 2. When the detected pressure value of the accumulator is ≤ the liquid filling pressure setting, the second oil pump 12 works, and the liquid filling switch valve 8 is opened to fill the potential energy recovery device and do the basic work of potential energy recovery.

[0091] When the boom is descending or in the process of descending, the controller 14 controls the current of the electric proportional overflow valve 4 based on the boom angle detected by the detector 4 to change the overflow pressure of the accumulator 4. On the basis of ensuring that the boom can complete the automatic falling, energy recovery is performed.

[0092] When the large arm of the engineering machinery is lifted, the first oil pump 5 works, the second multi-way valve reversing joint 7 is in the right position, the rodless cavity of the large arm oil cylinder 9 pushes the piston rod to extend, the energy-saving oil cylinder 1 assists the lifting, and the potential energy recovery utilization is realized.

[0093] The potential energy control system provided in the application is based on the relationship between whether the boom can complete automatic falling and the boom posture and the overflow pressure of the accumulator 3 or the accumulator circuit, and the relationship between the accumulator 3 or the accumulator circuit and the current of the electric proportional overflow valve 4, to establish a mapping relationship between the boom angle that can ensure the boom to complete automatic falling and the current of the electric proportional overflow valve 4, so that the accumulator 4 can be controlled to recover energy at the maximum output that can ensure the boom to complete automatic falling, according to the actual working condition, the output of the accumulator and the energy-saving cylinder is adjusted, thereby greatly improving the energy-saving effect on the basis of ensuring the normal falling of the boom.

[0094] Work machine embodiments:

[0095] Based on the same inventive concept, the application also provides an engineering machine comprising the potential energy recovery system provided in the above system embodiments. Through the potential energy recovery system, the working condition information of the boom is detected during the falling process of the boom, and the maximum output value of the accumulator is controlled based on the working condition information, so as to ensure that the potential energy of the boom itself can overcome the maximum back pressure of the potential energy recovery device such as the accumulator and the energy-saving cylinder, and realize automatic falling. Therefore, larger potential energy recovery devices can be installed on the engineering machine such as a crane, the back pressure of the accumulator and the energy-saving cylinder is adjusted according to the actual working condition, and under different working conditions, the boom can normally fall without consuming additional fuel, the potential energy is recovered as much as possible on the basis of ensuring that the boom can normally fall without consuming additional fuel, and the energy-saving effect is greatly improved.

[0096] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. The above description of the disclosed embodiments enables a person skilled in the art to implement or use the application. Various modifications of the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of potential energy recovery, characterized by, The method comprises: obtaining working condition information of the engineering machinery; determining a target maximum output value of the preset energy recovery device based on the working condition information, the target maximum output value being a maximum output value of the energy recovery device that enables the boom of the engineering machinery to complete automatic falling; controlling the energy recovery device to work according to an actual output that is less than or equal to the target maximum output value. The working condition information comprises one or more of boom information, load weight and a first action force, the first action force being a maximum value of a force that the preset energy recovery device can output for energy recovery. The boom information comprises one or more of a boom angle, a boom height, a boom length, a boom weight and a relative position of the boom and the load. When the boom information comprises the boom weight and the boom angle, the boom angle comprising a boom real-time angle, and the boom real-time angle and the first action force being acquired in real time and continuously during boom falling, the determining of the target maximum output value of the preset energy recovery device based on the working condition information comprises: determining a second action force based on the boom real-time angle at a current time and the load weight and the relative position of the boom and the load at the current time. The method comprises: obtaining working condition information of the engineering machinery; 2. The potential energy recovery method of claim 1, wherein, determining a target maximum output value of the preset energy recovery device based on the working condition information, the target maximum output value being a maximum output value of the energy recovery device that enables the boom of the engineering machinery to complete automatic falling; controlling the energy recovery device to work according to an actual output that is less than or equal to the target maximum output value. The working condition information comprises one or more of boom information, load weight and a first action force, the first action force being a maximum value of a force that the preset energy recovery device can output for energy recovery.

3. A method of potential energy recovery, characterized by, The boom information comprises one or more of a boom angle, a boom height, a boom length, a boom weight and a relative position of the boom and the load. When the boom information comprises the boom weight and the boom angle, the boom angle comprising a boom real-time angle, and the boom real-time angle and the first action force being acquired in real time and continuously during boom falling, the determining of the target maximum output value of the preset energy recovery device based on the working condition information comprises: determining a second action force based on the boom real-time angle at a current time and the load weight and the relative position of the boom and the load at the current time. ​ ​ ​ ​ ​ when the first force at the current moment is greater than or equal to the second force at the current moment, determining a target maximum output value at the current moment based on the second force at the current moment; the target maximum output value at the current moment is less than a value of the second force at the current moment; when the first force at the current moment is less than the second force at the current moment, taking a value of the first force at the current moment as a target maximum output value at the current moment.

4. The potential energy recovery method according to claim 3, wherein the working of the energy recovery device is controlled according to an actual output value less than or equal to the target maximum output value, comprising: when the real-time output value at the current moment is greater than the target maximum output value at the current moment, reducing the preset maximum output value of the energy recovery device until the maximum output value is less than the target maximum output value at the current moment. the reducing of the preset maximum output value of the energy recovery device comprises reducing an overflow pressure value of the energy recovery device.

5. The potential energy recovery method of claim 4, wherein, comprising a detection module, a control module and an energy recovery device; 6. A potential energy recovery system characterized by, the detection module is configured to acquire working condition information of the engineering machinery; the working condition information comprises one or more of jib information, load weight and first force, the first force being a maximum value of force that the preset energy recovery device can output for energy recovery; the jib information comprises one or more of jib angle, jib height, jib length, jib weight and relative position between the jib and the load; the control module is configured to determine a target maximum output value of the preset energy recovery device based on the working condition information, the target maximum output value being a maximum output value of the energy recovery device that enables the jib of the engineering machinery to complete automatic falling; when the jib information comprises the jib weight and the jib angle, the determining of the target maximum output value of the preset energy recovery device based on the working condition information comprises: determining a second force based on the jib weight, the jib angle, the load weight and the relative position between the jib and the load, the second force being a maximum force exerted by the jib on the energy recovery device in the case that the jib automatically falls; when the first force is greater than or equal to the second force, determining the target maximum output value based on the second force; the target maximum output value is less than a value of the second force; when the first force is less than the second force, taking a value of the first force as the target maximum output value; the control module is further configured to control the working of the energy recovery device according to an actual output value less than or equal to the target maximum output value. further comprising an electric proportional overflow valve connected with the energy recovery device; 7. The potential energy recovery system of claim 6, wherein, the control module is configured to control an overflow pressure value of the energy recovery device by changing an electric current of the electric proportional overflow valve, so as to change an output of the energy recovery device. comprising the potential energy recovery system according to any one of claims 6-7.

8. A working machine, characterized in that ​

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