A slewing energy recovery system, control method and engineering machine

Abstract

This invention discloses a rotary energy recovery and reuse system, control method, and engineering machinery, relating to the field of energy recovery technology. The rotary energy recovery and reuse system includes: a hydraulic pump, a first reversing valve, an energy recovery device, and a rotary device; the energy recovery device includes a dual-variable hydraulic coupler, a reversing device, an accumulator, an energy-saving valve group, and a recovery check valve. The dual-variable hydraulic coupler includes a first pump / motor and a second pump / motor that rotate synchronously. The rotary energy recovery and reuse system provided by this invention can effectively reduce the hydraulic pump output energy required during the rotary process, and utilizes the dual-variable hydraulic coupler for braking energy recovery and pressure regulation, enabling stable and complete recovery of braking energy under pressure regulation conditions in the energy storage system, improving the efficiency of braking energy recovery under transient high loads. Furthermore, it solves the problem of the operational stability of the dual-variable hydraulic coupler during the transition from rotary energy release to energy recovery.

Description

Technical Field

[0001] This invention relates to the field of energy recovery technology, and more specifically, to a rotary energy recovery and reuse system. Furthermore, this invention also relates to a control method applied to the aforementioned rotary energy recovery and reuse system, and to engineering machinery including the aforementioned rotary energy recovery and reuse system. Background Technology

[0002] Hydraulic excavators and other construction machinery are widely used in construction, mining, infrastructure and other fields. These construction machines have large rotational inertia, frequent starts and sudden load changes, resulting in problems such as high energy consumption, low energy utilization and poor exhaust emissions.

[0003] Conventional hydraulic excavators suffer significant energy loss during the swing start and braking processes. While ideally, they require energy recovery and reuse, and various direct energy recovery schemes based on hydraulic accumulators exist, these schemes are affected by accumulator pressure, resulting in incomplete energy recovery. Furthermore, due to the non-constant swing angle, methods such as using booster cylinders for energy recovery are unsuitable for energy recovery from swing hydraulic actuators, making it difficult to achieve efficient swing braking energy recovery and reuse.

[0004] In summary, how to provide a rotary energy recovery and reuse system that can improve energy recovery and utilization efficiency is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a rotation energy recovery and reuse system that can effectively reduce the energy output of the hydraulic pump during rotation. With the help of a dual variable hydraulic coupler, braking energy recovery and pressure regulation can be performed, so as to realize the stable and complete recovery of braking energy under the pressure change state of the energy storage system, and effectively improve the braking energy recovery efficiency under transient large load.

[0006] Another object of the present invention is to provide a control method for the above-mentioned rotary energy recovery and reuse system, as well as engineering machinery including the above-mentioned rotary energy recovery and reuse system.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A rotary energy recovery and reuse system includes: a hydraulic pump, a first directional valve, an energy recovery device, a directional device, and a rotary device;

[0009] The rotary device includes a rotary motor;

[0010] The energy recovery device includes a dual variable hydraulic coupler, a reversing device, an accumulator, an energy-saving valve group, and a recovery check valve;

[0011] The dual variable hydraulic coupler is equipped with a first pump / motor and a second pump / motor that rotate synchronously, and the first pump / motor is connected between the reversing device and the output end of the first reversing valve.

[0012] The input end of the reversing device is connected to the two oil ports of the rotary motor, and the output end of the reversing device is connected to the input end of the recovery check valve and the input end of the dual variable coupler, respectively.

[0013] The accumulator is used to temporarily store the energy recovered by the dual-variable hydraulic coupler;

[0014] The energy-saving valve assembly is used to connect the dual-variable hydraulic coupler to the accumulator;

[0015] The input end of the recovery check valve is connected to the output end of the reversing device, and the output end of the recovery check valve is connected to the input end of the first pump / motor.

[0016] When the slewing device brakes, hydraulic oil flows sequentially through the reversing device and the recovery check valve, driving the first pump / motor to rotate. The second pump / motor is driven by the first pump / motor to rotate synchronously, storing the braking energy of the slewing device in the accumulator.

[0017] When the slewing device accelerates, hydraulic oil flows sequentially through the first reversing valve, the first pump / motor, and the reversing device. The accumulator releases energy to make the second pump / motor rotate, and the second pump / motor drives the first pump / motor to rotate, so as to cooperate with the hydraulic pump to drive the slewing device to rotate.

[0018] Optionally, a shuttle valve and a first check valve are connected between the first directional valve and the input end of the first pump / motor. The two input ends of the shuttle valve are respectively connected to the two output ends of the first directional valve, the input end of the first check valve is connected to the output end of the shuttle valve, and the output end of the first check valve is connected to the first pump / motor.

[0019] Optionally, it also includes a first cartridge valve and a second cartridge valve, and the rotary device includes a rotary motor and a rotary platform driven to rotate by the rotary motor;

[0020] One output terminal of the rotary motor is connected to the first cartridge valve, and the other output terminal of the rotary motor is connected to the second cartridge valve. The other end of the first cartridge valve is connected to one output terminal of the first directional valve, and the other end of the second cartridge valve is connected to the other output terminal of the first directional valve.

[0021] Optionally, it also includes a first relief valve, a second relief valve, a second check valve, a third check valve, and a return oil tank;

[0022] The input end of the first overflow valve is connected to one output end of the rotary motor, and the output end of the first overflow valve is connected to the return oil tank.

[0023] The input end of the second overflow valve is connected to the other output end of the rotary motor, and the output end of the second overflow valve is connected to the return oil tank;

[0024] The input end of the second check valve is connected to the return oil tank, and the output end of the second check valve is connected to one output end of the rotary motor;

[0025] The input end of the third check valve is connected to the return oil tank, and the output end of the third check valve is connected to the other output end of the rotary motor.

[0026] Optionally, it also includes a first anti-reverse valve and a second anti-reverse valve, both of which are connected in parallel with the rotary motor, and the first anti-reverse valve and the second anti-reverse valve are connected in opposite directions.

[0027] Optionally, the reversing device is a second reversing valve or a cartridge valve assembly.

[0028] Optionally, it also includes a first pressure sensor and a second pressure sensor respectively connected to both ends of the rotary device; the first pressure sensor and the second pressure sensor are used to detect the oil outlet pressure at the output end of the rotary device;

[0029] And / or, it also includes a third pressure sensor connected to the accumulator, the third pressure sensor being used to detect the output pressure of the accumulator.

[0030] Optionally, both the first pump / motor and the second pump / motor are fixed displacement motors;

[0031] Alternatively, both the first pump / motor and the second pump / motor may be variable displacement motors;

[0032] Alternatively, one of the first pump / motor and the second pump / motor may be a fixed displacement motor, and the other may be a variable displacement motor.

[0033] A control method, applied to the rotary energy recovery and reuse system described in any one of the above claims, characterized in that the control method comprises:

[0034] Step S1, determine |ΔP j Does |≥α hold true, where ΔP j The pressure P at the left control end of the first directional valve jL With right-side control end pressure P jR The difference, ΔP j =P jL -PjR α is a preset pressure value; if yes, proceed to step S2; otherwise, proceed to step S3.

[0035] Step S2, determine ΔP j *Is ω>0 true, where ω is the real-time rotational speed of the rotary device? If yes, proceed to step S4; otherwise, proceed to step S5.

[0036] Step S3: Determine whether the absolute value of the real-time rotational speed ω of the rotary device is greater than the preset rotational speed value ω. c If yes, proceed to step S6; otherwise, proceed to step S7.

[0037] Step S4: Determine whether the real-time energy storage state SOC_acc of the energy accumulator is greater than the lower limit of energy release SOC_accD of the energy accumulator; if yes, control the energy accumulator to output energy; if no, proceed to step S8.

[0038] Step S5: Determine whether the real-time energy storage state SOC_acc of the accumulator is less than the upper limit value of the accumulator's charging SOC_accU. If yes, control the braking energy recovery so that the accumulator can recover energy; otherwise, proceed to step S8.

[0039] Step S6: Determine whether the real-time energy storage state SOC_acc of the accumulator is greater than or equal to the upper limit of the accumulator's charging value SOC_accU. If not, control the regeneration of braking energy. If yes, proceed to step S8.

[0040] Step S7: Determine that the rotating device is stationary;

[0041] Step S8: Control the energy recovery device to shut down;

[0042] In step S9, the energy recovery device stops recovering or releasing energy, and the rotary energy recovery and reuse system enters the normal working mode.

[0043] An engineering machine, comprising the rotary energy recovery and reuse system described in any one of the above claims.

[0044] In the process of using the rotary energy recovery and reuse system provided by this invention, when the rotary device rotates and is in an accelerated state, the hydraulic oil flows sequentially through the first reversing valve, the first pump / motor, and the reversing device, and enters the rotary device to drive it to rotate. The accumulator releases energy to make the second pump / motor rotate, and the second pump / motor drives the first pump / motor to rotate. The hydraulic oil flows through the first pump / motor, and the kinetic energy of the first pump / motor is converted into the kinetic energy of the hydraulic oil to work with the hydraulic pump to drive the rotary device to rotate. This can effectively reduce the output energy of the hydraulic pump during the rotation process and achieve the effect of energy saving.

[0045] When the slewing device brakes, the speed of the slewing device decreases. During the hydraulic oil return process, it flows through the reversing device and the recovery check valve in sequence, and drives the first pump / motor to rotate. The second pump / motor is driven by the first pump / motor to rotate synchronously. The rotational kinetic energy of the second pump / motor is stored in the accumulator through the energy-saving valve group, realizing the energy recovery during the braking process of the slewing device.

[0046] In summary, the rotary energy recovery and reuse system provided by this invention can effectively reduce the energy output of the hydraulic pump during rotation. By utilizing a dual-variable hydraulic coupler for braking energy recovery and pressure regulation, it can achieve stable and complete recovery of braking energy under pressure regulation conditions in the energy storage system, improving the efficiency of braking energy recovery under transient high loads. Furthermore, the dual-variable hydraulic coupler in this invention maintains a consistent rotation direction during state switching, ensuring a stable and efficient rotational state without requiring reverse acceleration during braking; thus solving the problem of operational stability of the dual-variable hydraulic coupler during the transition from rotary energy release to energy recovery.

[0047] Furthermore, the present invention provides a rotary energy recovery and reuse system that can improve the energy recovery and utilization rate, which is a problem that urgently needs to be solved by those skilled in the art. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0049] Figure 1 A schematic diagram of a specific embodiment of the rotary energy recovery and reuse system provided by the present invention;

[0050] Figure 2 A schematic diagram of a specific embodiment two of the rotary energy recovery and reuse system provided by the present invention;

[0051] Figure 3 This is a flowchart illustrating a specific embodiment of the control method provided by the present invention.

[0052] Figures 1-3 middle:

[0053] 1 is the controller, 2 is the hydraulic pump, 3 is the first directional valve, 41 is the first cartridge valve, 42 is the second cartridge valve, 5 is the third pressure sensor, 6 is the accumulator, 7 is the energy-saving valve group, 8 is the dual variable hydraulic coupler, 81 is the first pump / motor, 82 is the second pump / motor, 91 is the first relief valve, 92 is the second relief valve, 93 is the second check valve, 94 is the third check valve, 101 is the first pressure sensor, 102 is the second pressure sensor, 11 is the rotary motor, 12 is the rotary platform, 131 is the first anti-reverse valve, 132 is the second anti-reverse valve, 14 is the second directional valve, 15 is the recovery check valve, 16 is the shuttle valve, 17 is the first check valve, 18 is the hydraulic source, and 19 is the angular velocity sensor. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] The core of this invention is to provide a rotation energy recovery and reuse system, which can effectively reduce the energy output of the hydraulic pump during rotation. With the help of a dual-variable hydraulic coupler, braking energy recovery and pressure regulation can be performed, so as to realize the stable and complete recovery of braking energy under the pressure change state of the energy storage system, and effectively improve the braking energy recovery efficiency under transient large load.

[0056] Another core aspect of this invention is to provide a control method for the aforementioned rotary energy recovery and reuse system, as well as engineering machinery including the aforementioned rotary energy recovery and reuse system.

[0057] Please refer to Figures 1 to 3 .

[0058] This specific embodiment discloses a rotary energy recovery and reuse system, including: a hydraulic pump 2, a first reversing valve 3, an energy recovery device, a reversing device, and a rotary device; the energy recovery device includes a dual-variable hydraulic coupler 8, a reversing device, an accumulator 6, an energy-saving valve group 7, and a recovery check valve 15. The dual-variable hydraulic coupler 8 is equipped with a synchronously rotating first pump / motor 81 and a second pump / motor 82. The first pump / motor 81 is connected between the reversing device and the output end of the first reversing valve 3; the accumulator 6 is used to temporarily store the energy recovered by the dual-variable hydraulic coupler 8; the energy-saving valve group 7 is used to connect the dual-variable hydraulic coupler 8 and the accumulator 6; the recovery check valve 15... The input end is connected to the output end of the reversing device, and the output end of the recovery check valve 15 is connected to the input end of the first pump / motor 81. When the slewing device brakes, the hydraulic oil flows through the reversing device and the recovery check valve 15 in sequence, driving the first pump / motor 81 to rotate. The second pump / motor 82 is driven by the first pump / motor 81 to rotate synchronously, storing the kinetic energy of the second pump / motor 82 in the accumulator 6. When the slewing device accelerates, the hydraulic oil flows through the first reversing valve 3, the first pump / motor 81, and the reversing device in sequence. The accumulator 6 releases energy to make the second pump / motor 82 rotate. The second pump / motor 82 drives the first pump / motor 81 to rotate, so as to cooperate with the hydraulic pump 2 to drive the slewing device to rotate.

[0059] In the process of using the rotary energy recovery and reuse system provided in this specific embodiment, when the rotary device rotates and is in an accelerated state, the hydraulic oil flows sequentially through the first reversing valve 3, the first pump / motor 81, the reversing device, and enters the rotary device, driving the rotary device to rotate. The accumulator 6 releases energy to make the second pump / motor 82 rotate. The second pump / motor 82 drives the first pump / motor 81 to rotate. The hydraulic oil flows through the first pump / motor 81, and the kinetic energy of the first pump / motor 81 is converted into the kinetic energy of the hydraulic oil to work with the hydraulic pump 2 to drive the rotary device to rotate. This can effectively reduce the output energy of the hydraulic pump 2 during the rotation process and achieve the effect of energy saving.

[0060] When the slewing device brakes, the speed of the slewing device decreases. During the hydraulic oil return process, it flows through the reversing device and the recovery check valve 15 in sequence, and drives the first pump / motor 81 to rotate. The second pump / motor 82 is driven by the first pump / motor 81 to rotate synchronously. The rotational kinetic energy of the second pump / motor 82 is stored in the accumulator 6 through the energy-saving valve group 7, realizing the energy recovery during the braking process of the slewing device.

[0061] It should be noted that the reversing device in this specific embodiment can be the second reversing valve 14 or a cartridge valve assembly, depending on the actual situation, which will not be elaborated here.

[0062] In summary, the rotary energy recovery and reuse system provided in this specific embodiment can effectively reduce the energy output of the hydraulic pump 2 during rotation. By utilizing the dual-variable hydraulic coupler 8 for braking energy recovery and pressure regulation, it can achieve stable and complete recovery of braking energy under pressure regulation conditions in the energy storage system, improving the efficiency of braking energy recovery under transient high loads. Furthermore, the dual-variable hydraulic coupler 8 in this specific embodiment maintains a consistent rotation direction during state switching, ensuring a stable and efficient rotational state without requiring reverse acceleration during braking; this solves the problem of operational stability of the dual-variable hydraulic coupler 8 during the transition from rotary energy release to energy recovery.

[0063] In one specific embodiment, such as Figure 1 As shown, a shuttle valve 16 and a first check valve 17 are connected between the input end of the first reversing valve 3 and the first pump / motor 81. The two input ends of the shuttle valve 16 are respectively connected to the two output ends of the first reversing valve 3. The input end of the first check valve 17 is connected to the output end of the shuttle valve 16. The output end of the first check valve 17 is connected to the first pump / motor 81.

[0064] The first check valve 17 is designed to prevent hydraulic oil returning from the rotary device from entering the shuttle valve 16, so that the hydraulic oil returning from the rotary device can flow out through the recovery check valve 15 and drive the first pump / motor 81 to rotate.

[0065] The rotary energy recovery and reuse system also includes a first cartridge valve 41 and a second cartridge valve 42. The rotary device includes a rotary motor 11 and a rotary platform 12 driven by the rotary motor 11. One output end of the rotary motor 11 is connected to the first cartridge valve 41, and the other output end of the rotary motor 11 is connected to the second cartridge valve 42. The other end of the first cartridge valve 41 is connected to one output end of the first directional valve 3, and the other end of the second cartridge valve 42 is connected to the other output end of the first directional valve 3.

[0066] In practical use, when it is necessary to drive the rotary device to rotate in the forward direction, the first cartridge valve 41 can be opened and the second cartridge valve 42 can be closed. Figure 1 The first directional valve 3 is in the parallel position; hydraulic oil flows sequentially through the first directional valve 3, shuttle valve 16, first check valve 17, first pump / motor 81, directional valve 14, and the left side of the rotary motor 11, driving the rotary platform 12 in the rotary device to rotate forward. The returning hydraulic oil flows back to the return oil tank from the right side of the rotary motor 11 through the first cartridge valve 41 and the first directional valve 3. When it is necessary to drive the rotary device to rotate in the reverse direction, the first cartridge valve 41 can be closed and the second cartridge valve 42 can be opened. Figure 1The first directional valve 3 is located in the cross position; the hydraulic oil flows sequentially through the first directional valve 3, shuttle valve 16, first check valve 17, first pump / motor 81, directional valve 14, and the right side of the rotary motor 11, driving the rotary platform 12 in the rotary device to rotate in the opposite direction. The returned hydraulic oil flows back from the left side of the rotary motor 11 through the second cartridge valve 42 and the first directional valve 3 to the return oil tank.

[0067] like Figure 1 , Figure 2 As shown, the rotary energy recovery and reuse system also includes a first overflow valve 91, a second overflow valve 92, a second check valve 93, a third check valve 94, and a return oil tank; the input end of the first overflow valve 91 is connected to one output end of the rotary motor 11, and the output end of the first overflow valve 91 is connected to the return oil tank; the input end of the second overflow valve 92 is connected to the other output end of the rotary motor 11, and the output end of the second overflow valve 92 is connected to the return oil tank; the input end of the second check valve 93 is connected to the return oil tank, and the output end of the second check valve 93 is connected to one output end of the rotary motor 11; the input end of the third check valve 94 is connected to the return oil tank, and the output end of the third check valve 94 is connected to the other output end of the rotary motor 11.

[0068] In practical use, when the hydraulic oil pressure is high, it can flow back to the return oil tank through the first relief valve 91 or the second relief valve 92.

[0069] Based on the above embodiments, the rotary energy recovery and reuse system further includes a first anti-reverse valve 131 and a second anti-reverse valve 132. Both the first anti-reverse valve 131 and the second anti-reverse valve 132 are connected in parallel with the rotary motor 11, and the first anti-reverse valve 131 and the second anti-reverse valve 132 are connected in opposite directions. Specifically, the oil inlet of the first anti-reverse valve 131 can be connected to the left side of the rotary motor 11, and the oil inlet of the second anti-reverse valve 132 can be connected to the right side of the rotary motor 11.

[0070] like Figure 1 As shown, it also includes a first pressure sensor 101 and a second pressure sensor 102 respectively connected to the two ends of the rotary device, for detecting the pressure at both ends of the rotary device; and / or, it also includes a third pressure sensor 5 connected to the accumulator 6, for detecting the pressure at the output end of the accumulator 6.

[0071] Specifically, the first pump / motor 81 and the second pump / motor 82 are both fixed displacement motors; or, the first pump / motor 81 and the second pump / motor 82 are both variable displacement motors; or, one of the first pump / motor 81 and the second pump / motor 82 is a fixed displacement motor and the other is a variable displacement motor, depending on the actual situation.

[0072] like Figure 1As shown, a controller 1 is provided. The controller 1 is an ECU (Electronic Control Unit). The first reversing valve 3 and the reversing valve 14 are both connected to the controller 1. In actual use, the controller 1 controls the rotation of the hydraulic pump 2 and the action of the reversing valve 14.

[0073] In another specific embodiment, such as Figure 2 As shown, based on the above embodiment, a hydraulic source 18 and an angular velocity sensor 19 are provided. The angular velocity sensor 19 is used to detect the rotational speed of the rotary platform 12.

[0074] In addition to the aforementioned rotary energy recovery and reuse system, the present invention also provides a control method for the rotary energy recovery and reuse system disclosed in the above embodiments, the control method comprising:

[0075] Step S1, determine |ΔP j Does |≥α hold true, where ΔP j The pressure P at the left control end of the first directional valve 3 jL With right-side control end pressure P jR The difference, ΔP j =P jL -P jR α is a preset pressure value; if yes, proceed to step S2; otherwise, proceed to step S3.

[0076] It should be noted that when the first directional valve 3 is controlled by the handle, P jL The control pressure at the left end of the handle, P jR This refers to the control pressure at the right end of the handle.

[0077] Step S2, determine ΔP j *whether ω> is true, where ω is the real-time rotational speed of the rotary device; if yes, proceed to step S4, if no, proceed to step S5.

[0078] Step S3: Determine whether the absolute value of the real-time rotational speed ω of the rotary device is greater than the preset rotational speed value ω. c If yes, proceed to step S6; otherwise, proceed to step S7.

[0079] Step S4: Determine whether the real-time energy storage state SOC_acc of the energy storage device 6 is greater than the lower limit value SOC_accD of the energy release of the energy storage device 6; if yes, control the energy storage device 6 to output energy; if no, proceed to step S8.

[0080] Step S5: Determine whether the real-time energy storage state SOC_acc of the accumulator 6 is less than the upper limit of the accumulator 6's charging capacity SOC_accU. If so, control the braking energy recovery so that the accumulator 6 can recover energy; otherwise, proceed to step S8.

[0081] Step S6: Determine whether the real-time energy storage state SOC_acc of the accumulator 6 is greater than or equal to the upper limit of the accumulator 6's charging value SOC_accU. If not, control the regeneration of braking energy. If yes, proceed to step S8.

[0082] Step S7: Determine that the rotating device is stationary.

[0083] Step S8: Control the energy recovery device to shut down.

[0084] In step S9, the energy recovery device stops recovering or releasing energy, and the rotary energy recovery and reuse system enters the normal working mode.

[0085] In addition to the above-mentioned rotary energy recovery and reuse system, the present invention also provides an engineering machine that includes the rotary energy recovery and reuse system disclosed in the above embodiments. The engineering machine can be a hydraulic excavator or other equipment that meets the requirements, which will be determined according to the actual situation and will not be elaborated here.

[0086] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Any combination of all embodiments provided by this invention is within the scope of protection of this invention and will not be elaborated upon here.

[0087] The rotary energy recovery and reuse system, control method, and engineering machinery provided by this invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A rotary energy recovery and reuse system, characterized in that, include: The system includes a hydraulic pump (2), a first directional valve (3), an energy recovery device, and a rotary device; the rotary device includes a rotary motor (11). The energy recovery device includes a dual variable hydraulic coupler (8), a reversing device, an accumulator (6), an energy-saving valve group (7), and a recovery check valve (15); The dual variable hydraulic coupler (8) is provided with a first pump / motor (81) and a second pump / motor (82) that rotate synchronously. The first pump / motor (81) is connected between the reversing device and the output end of the first reversing valve (3). The input end of the reversing device is connected to the two oil ports of the rotary motor (11), and the output end of the reversing device is connected to the input end of the recovery check valve (15) and the input end of the dual variable hydraulic coupler (8), respectively. The accumulator (6) is used to temporarily store the energy recovered by the dual variable hydraulic coupler (8); The energy-saving valve assembly (7) is used to connect the dual variable hydraulic coupler (8) and the accumulator (6); The input end of the recovery check valve (15) is connected to the output end of the reversing device, and the output end of the recovery check valve (15) is connected to the input end of the first pump / motor (81). When the rotary device brakes, hydraulic oil flows sequentially through the reversing device and the recovery check valve (15), driving the first pump / motor (81) to rotate. The second pump / motor (82) is driven to rotate synchronously by the first pump / motor (81), storing the braking energy of the rotary device in the accumulator (6). When the rotary device accelerates, hydraulic oil flows sequentially through the first reversing valve (3), the first pump / motor (81), and the reversing device. The accumulator (6) releases energy to make the second pump / motor (82) rotate. The second pump / motor (82) drives the first pump / motor (81) to rotate, so as to cooperate with the hydraulic pump (2) to drive the rotary device to rotate.

2. The rotary energy recovery and reuse system according to claim 1, characterized in that, A shuttle valve (16) and a first check valve (17) are connected between the first reversing valve (3) and the input end of the first pump / motor (81). The two input ends of the shuttle valve (16) are respectively connected to the two output ends of the first reversing valve (3). The input end of the first check valve (17) is connected to the output end of the shuttle valve (16). The output end of the first check valve (17) is connected to the first pump / motor (81).

3. The rotary energy recovery and reuse system according to claim 1, characterized in that, It also includes a first cartridge valve (41) and a second cartridge valve (42); One output end of the rotary motor (11) is connected to the first cartridge valve (41), and the other output end of the rotary motor (11) is connected to the second cartridge valve (42). The other end of the first cartridge valve (41) is connected to one output end of the first directional valve (3), and the other end of the second cartridge valve (42) is connected to the other output end of the first directional valve (3).

4. The rotary energy recovery and reuse system according to claim 3, characterized in that, It also includes a first relief valve (91), a second relief valve (92), a second check valve (93), a third check valve (94), and a return oil tank; The input end of the first overflow valve (91) is connected to one output end of the rotary motor (11), and the output end of the first overflow valve (91) is connected to the return oil tank; The input end of the second overflow valve (92) is connected to the other output end of the rotary motor (11), and the output end of the second overflow valve (92) is connected to the return oil tank; The input end of the second check valve (93) is connected to the return oil tank, and the output end of the second check valve (93) is connected to one output end of the rotary motor (11); The input end of the third check valve (94) is connected to the return oil tank, and the output end of the third check valve (94) is connected to the other output end of the rotary motor (11).

5. The rotary energy recovery and reuse system according to claim 4, characterized in that, It also includes a first anti-reverse valve (131) and a second anti-reverse valve (132), both of which are connected in parallel with the rotary motor (11), and the first anti-reverse valve (131) and the second anti-reverse valve (132) are connected in opposite directions.

6. The rotary energy recovery and reuse system according to any one of claims 1-5, characterized in that, The reversing device is a second reversing valve (14) or a cartridge valve assembly.

7. The rotary energy recovery and reuse system according to any one of claims 1-5, characterized in that, It also includes a first pressure sensor (101) and a second pressure sensor (102) respectively connected to both ends of the rotary device; the first pressure sensor (101) and the second pressure sensor (102) are used to detect the oil outlet pressure at the output end of the rotary device; And / or, it also includes a third pressure sensor (5) connected to the accumulator (6), the third pressure sensor (5) being used to detect the output pressure of the accumulator (6).

8. The rotary energy recovery and reuse system according to any one of claims 1-5, characterized in that, Both the first pump / motor (81) and the second pump / motor (82) are fixed displacement motors; Alternatively, both the first pump / motor (81) and the second pump / motor (82) may be variable displacement motors; Alternatively, one of the first pump / motor (81) and the second pump / motor (82) may be a fixed displacement motor and the other may be a variable displacement motor.

9. A control method applied to the rotary energy recovery and reuse system according to any one of claims 1-8, characterized in that, The control method includes: Step S1, determine |ΔP j Does |≥α hold true, where ΔP j The pressure P at the left control end of the first directional valve (3) jL With right-side control end pressure P jR The difference, ΔP j =P jL -P jR α is a preset pressure value; if yes, proceed to step S2; otherwise, proceed to step S3. Step S2, determine ΔP j *Is ω>0 true, where ω is the real-time rotational speed of the rotary device? If yes, proceed to step S4; otherwise, proceed to step S5. Step S3: Determine whether the absolute value of the real-time rotational speed ω of the rotary device is greater than the preset rotational speed value ω. c If yes, proceed to step S6; otherwise, proceed to step S7. Step S4: Determine whether the real-time energy storage state SOC_acc of the energy storage device (6) is greater than the lower limit value SOC_accD of the energy release of the energy storage device (6); if yes, control the energy storage device (6) to output energy; if no, proceed to step S8. Step S5: Determine whether the real-time energy storage state SOC_acc of the accumulator (6) is less than the upper limit value of the accumulator (6) SOC_accU. If yes, control the braking energy recovery so that the accumulator (6) can recover energy; otherwise, proceed to step S8. Step S6: Determine whether the real-time energy storage state SOC_acc of the accumulator (6) is greater than or equal to the upper limit value of the accumulator (6) SOC_accU. If not, control the braking energy recovery. If yes, proceed to step S8. Step S7: Determine that the rotating device is stationary; Step S8: Control the energy recovery device to shut down; In step S9, the energy recovery device stops recovering or releasing energy, and the rotary energy recovery and reuse system enters the normal working mode.

10. An engineering machinery, characterized in that, Includes the rotary energy recovery and reuse system as described in any one of claims 1-8.

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