Energy recovery and reuse type construction crane luffing mechanism and control method thereof

Abstract

The present invention belongs to the technical field of luffing mechanism, and discloses an energy recovery and reuse type luffing mechanism for a construction crane and a control method thereof, including a luffing system, a slewing system, an energy storage system, and a control system. The luffing system includes a luffing pump, a first luffing relief valve, a first three-position four-way solenoid valve, a balancing valve, a second three-position four-way solenoid valve, a second luffing relief valve, a luffing motor, and an oil replenishing valve. By setting the second three-position four-way solenoid valve in the luffing system and the first two-position three-way reversing valve in the slewing system, the valve ports and valve positions of the above two valves are set, so that the luffing hydraulic system can be matched with the hydraulic system of the slewing mechanism, and energy can be recovered and released together, and synchronous operation of luffing and slewing can be achieved at the same time, thereby reducing intermediate energy loss.

Description

Technical Field

[0001] The invention relates to a luffing mechanism, in particular to an energy recovery and reuse type building crane luffing mechanism and a control method thereof. Background Art

[0002] Construction cranes mainly include three parts: luffing mechanism, slewing mechanism and winch lifting mechanism. They have the advantages of simple materials, low maintenance cost and good safety. Whether it is civil construction or industrial plant construction, construction cranes are irreplaceable. The above advantages of construction cranes give it a good opportunity in the construction industry. In the long run, a basic element for construction cranes to enter the market is energy conservation and environmental protection. The energy-saving technology of construction cranes will bring considerable economic and social benefits to the country, society and users, and the primary goal of energy conservation of construction cranes is energy conservation of hydraulic systems.

[0003] In the prior art, an independent hydraulic accumulator is usually set in the hydraulic system of the luffing mechanism or the slewing mechanism to store and release the luffing potential energy or the slewing kinetic energy. However, most of these energy recovery systems are relatively independent, that is, the slewing mechanism corresponds to a set of hydraulic accumulators, and the luffing mechanism corresponds to a set of hydraulic accumulators. When this technology is used to release the energy of the hydraulic accumulator, energy loss will still occur. At the same time, the actions of the luffing mechanism and the slewing mechanism of the boom tower crane are usually continuous. For example, the machine position returns to the normal position after the luffing is lowered, and the machine position rotates after the luffing is raised. Although the step-by-step operation has a certain degree of safety, it is not conducive to the full recovery and utilization of energy.

[0004] Therefore, it is necessary to design an energy recovery and reuse type of construction crane luffing mechanism that can match the hydraulic system of the slewing mechanism to jointly recover and release energy, while achieving synchronous operation of luffing and slewing to reduce intermediate energy losses. Summary of the invention

[0005] The object of the present invention is to provide an energy recovery and reuse type construction crane luffing mechanism and a control method thereof, so as to solve the technical problems in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] On the one hand, the present invention provides an energy recovery and reuse type luffing mechanism for a construction crane, comprising a luffing system, a slewing system, an energy storage system, and a control system. The luffing system comprises a luffing pump, a first luffing relief valve, a first three-position four-way solenoid valve, a balancing valve, a second three-position four-way solenoid valve, a second luffing relief valve, a luffing motor, and an oil replenishing valve; wherein the first three-position four-way solenoid valve comprises three working positions: left, middle, and right, and has four working oil ports A / B / C / D, in the left position, ports A and D are connected, ports B and C are connected, in the middle position, ports B / C / D are connected, and in the right position, ports A and C are connected, and ports B and D are connected; the second three-position four-way solenoid valve comprises three working positions: left, middle, and right, and has four working oil ports A / B / C / D, in the left position, only ports A and B are connected, in the middle position, only ports A and C are connected, and in the right position, only ports A and D are connected.

[0008] Preferably, the oil outlet of the variable amplitude pump is connected to the D port of the first three-position four-way solenoid valve, the B port of the first three-position four-way solenoid valve is connected to the oil inlet of the balancing valve, the oil outlet of the balancing valve is connected to the C port of the second three-position four-way solenoid valve, the A port of the second three-position four-way solenoid valve is connected to the oil inlet of the variable amplitude motor, and the oil outlet of the variable amplitude motor is connected to the A port of the first three-position four-way solenoid valve. In addition, the oil inlet of the variable amplitude motor is connected to the oil inlet of the second variable amplitude relief valve, and the oil outlet of the variable amplitude motor is also connected to the oil outlet of the oil replenishing valve 18.

[0009] Preferably, the rotary system includes a rotary pump, a first and second position three-way reversing valve, and a third and third position four-way solenoid valve; the first and second position three-way reversing valve has a left position and a right position, three working oil ports A / B / C, the left position B port and A port are connected, and the right position C port and A port are connected; the third and third position four-way solenoid valve has three working positions, left, middle, and right, and has four working oil ports A / B / C / D, the left position A port and C port are connected, and the B port and D port are connected, the middle position A / B / C / D ports are disconnected, and the right position A port and D port are connected, and the B port and C port are connected.

[0010] Preferably, the control system includes a single chip microcomputer controller, a luffing handle, and a slewing handle, and the controller is connected to control ports of the luffing handle and the slewing handle.

[0011] Preferably, the outlet of the rotary pump is connected to the C port of the first two-position three-way reversing valve, and the A port of the first two-position three-way reversing valve is connected to the C port of the third three-position four-way solenoid valve; in addition, the B port of the first two-position three-way reversing valve is connected to the B port of the second three-position four-way solenoid valve of the amplitude variation system; the pilot control port of the first two-position three-way reversing valve is connected to the controller; the pilot ports on both sides of the third three-position four-way solenoid valve are respectively connected to the two interfaces of the rotary handle.

[0012] Preferably, the A port of the third three-position four-way solenoid valve is connected to the first inlet of the first hydraulically controlled reversing valve and the outlet of the first non-return valve respectively, the oil outlet of the first hydraulically controlled reversing valve is connected to the inlet of the rotary motor, the second inlet of the first hydraulically controlled reversing valve is connected to the inlet of the first hydraulically controlled conversion valve, the inlet of the first hydraulically controlled unloading valve and the inlet of the second non-return valve respectively, the outlet of the second non-return valve is connected to the inlet of the accumulator, and at the same time, the outlet of the second non-return valve is connected to the D port of the second three-position four-way solenoid valve of the rotary system, the outlet of the first hydraulically controlled conversion valve and the outlet of the first hydraulically controlled unloading valve are connected to the inlet of the first non-return valve, the oil discharge port of the first hydraulically controlled conversion valve is connected to the inlet of the first hydraulically controlled conversion valve, the pilot oil port of the first hydraulically controlled conversion valve is connected to the B port of the third three-position four-way solenoid valve, the pilot oil port of the first hydraulically controlled unloading valve is connected to the inlet of the accumulator and the D port of the second three-position four-way solenoid valve, and the pilot oil port of the first hydraulically controlled reversing valve is connected to an outlet of the rotary handle.

[0013] Preferably, the B port of the third three-position four-way solenoid valve is connected to the first inlet of the second hydraulically controlled reversing valve and the outlet of the third one-way valve respectively, the oil outlet of the second hydraulically controlled reversing valve is connected to the outlet of the rotary motor, the second inlet of the second hydraulically controlled reversing valve is connected to the first inlet of the second hydraulically controlled conversion valve, the inlet of the second hydraulically controlled unloading valve and the inlet of the fourth one-way valve respectively, the outlet of the fourth one-way valve is connected to the inlet of the accumulator, similarly, the outlet of the fourth one-way valve is connected to the D port of the second three-position four-way solenoid valve, the outlet of the second hydraulically controlled conversion valve and the outlet of the second hydraulically controlled unloading valve are connected to the inlet of the third one-way valve respectively, and the second hydraulically controlled conversion valve is connected to the oil outlet of the second hydraulically controlled reversing valve. The oil discharge port of the change valve is connected to the inlet of the second hydraulically controlled conversion valve, the pilot oil port of the second hydraulically controlled conversion valve is connected to the A port of the third three-position four-way solenoid valve, the pilot oil port of the second hydraulically controlled unloading valve is connected to the inlet of the accumulator and the D port of the second three-position four-way solenoid valve, and the pilot oil port of the second hydraulically controlled reversing valve is connected to the other outlet of the rotary handle; at the same time, a sixth one-way valve is also arranged between the D port of the second three-position four-way solenoid valve and the outlet of the second and fourth one-way valves, the inlet of the sixth one-way valve is connected to the D port of the second three-position four-way solenoid valve, and the outlet of the sixth one-way valve is connected to the outlet of the second and fourth one-way valves.

[0014] On the other hand, the present invention also provides a control method for the above-mentioned energy recovery and reuse type construction crane boom mechanism. When the boom is lowered, there are two boom energy recovery modes, namely a pure energy storage mode and a linkage mode. In the pure energy storage mode, when the boom is lowered, the first three-position four-way solenoid valve is switched to the middle position, and the second three-position four-way solenoid valve is switched to the right position.

[0015] Preferably, in the linkage mode, when the boom is lowered, the first three-position four-way solenoid valve is switched to the middle position, the second three-position four-way solenoid valve is switched to the left position, and the first two-position three-way reversing valves of the slewing system are switched to the left position. At this time, the third three-position four-way solenoid valve is controlled to switch to the left or right position by the slewing handle, and the hydraulic oil in the variable amplitude system is supplied to the slewing system, so as to realize the clockwise or counterclockwise resetting of the slewing system synchronously during the process of boom amplitude change and lowering.

[0016] Preferably, the linkage mode is adopted when the amplitude variation parameter and the rotation parameter satisfy the following formula:

[0017] m 1 g△y 1 +m 2 g△y 2 >1 / 2Jω 2 ,

[0018] In the formula, m 1 is the mass of the boom, m 2 is the total mass of the hook and cargo, y 1 is the height of the boom center of gravity change, y 2 The height of the hook and cargo center of gravity changes. J is the moment of inertia of the rotary platform, oh Design the rotation speed for the rotary platform.

[0019] The beneficial effects of the present invention are:

[0020] The present invention arranges a second three-position four-way solenoid valve in the luffing system and a first two-position three-way reversing valve in the rotary system. By setting the valve ports and valve positions of the two valves, the luffing hydraulic system can be matched with the hydraulic system of the rotary mechanism to jointly recover and release energy, realize synchronous operation of luffing and rotary operation, and reduce intermediate energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of a hydraulic control circuit of an energy recovery and reuse type construction crane luffing mechanism of the present invention.

[0022] In the figure, the meanings of the reference numerals are as follows:

[0023] 1 luffing system, 11 luffing pump, 12 first luffing relief valve, 13 first three-position four-way solenoid valve, 14 balancing valve, 15 second three-position four-way solenoid valve, 16 second luffing relief valve, 17 luffing motor, 18 oil supply valve;

[0024] 2 rotary system, 21 rotary pump, 22 first two-position three-way reversing valve, 23 third three-position four-way solenoid valve, 24 first hydraulically controlled unloading valve, 25 second hydraulically controlled unloading valve, 26 first check valve, 27 third check valve, 28 first hydraulically controlled conversion valve, 29 second hydraulically controlled conversion valve, 211 second check valve, 212 fourth check valve, 213 first hydraulically controlled reversing valve, 214 second hydraulically controlled reversing valve, 215 rotary motor, 216 sixth check valve;

[0025] 3 energy storage system, 31 accumulator, 32 fifth one-way valve, 33 stop valve, 34 third hydraulically controlled reversing valve, 35 supporting cylinder, 36 brake cylinder;

[0026] 4 control system, 41 controller, 42 luffing handle, 43 slewing handle. DETAILED DESCRIPTION

[0027] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0028] The energy recovery and reuse type construction crane luffing mechanism described in the present invention mainly includes a luffing system 1, a slewing system 2, an energy storage system 3, and a control system 4. The luffing system 1 is a luffing hydraulic system, and the control system 4 includes a controller 41, a luffing handle 42, and a slewing handle 43. The controller 41 is connected to the control ports of the luffing handle 42 and the slewing handle 43, and the controller 41 is a single-chip microcomputer controller.

[0029] The amplitude variation system 1 includes an amplitude variation pump 11, a first amplitude variation relief valve 12, a first three-position four-way solenoid valve 13, a balancing valve 14, a second three-position four-way solenoid valve 15, a second amplitude variation relief valve 16, an amplitude variation motor 17, and an oil replenishment valve 18. The first three-position four-way solenoid valve 13 includes three working positions: left, middle, and right, and has four working oil ports A / B / C / D. In the left position, ports A and D are connected, ports B and C are connected, in the middle position, ports B / C / D are connected, and in the right position, ports A and C are connected, and ports B and D are connected. The second three-position four-way solenoid valve 15 includes three working positions: left, middle, and right, and has four working oil ports A / B / C / D. In the left position, only ports A and B are connected, in the middle position, only ports A and C are connected, and in the right position, only ports A and D are connected. In the luffing system 1, the oil outlet of the luffing pump 11 is connected to the D port of the first three-position four-way solenoid valve 13, the B port of the first three-position four-way solenoid valve 13 is connected to the oil inlet of the balance valve 14, the oil outlet of the balance valve 14 is connected to the C port of the second three-position four-way solenoid valve 15, the A port of the second three-position four-way solenoid valve 15 is connected to the oil inlet of the luffing motor 17, and the oil outlet of the luffing motor 17 is connected to the A port of the first three-position four-way solenoid valve 13. In addition, the oil inlet of the luffing motor 17 is also connected to the oil inlet of the second luffing relief valve 16, and the oil outlet of the luffing motor 17 is also connected to the oil outlet of the oil replenishing valve 18. The two pilot control ports of the first three-position four-way solenoid valve 13 are connected to the two outlets of the luffing handle 42, and the control port of the second three-position four-way solenoid valve 15 is connected to the controller 41.

[0030] The rotary system 2 includes a rotary pump 21, a first two-position three-way reversing valve 22, and a third three-way four-way solenoid valve 23. The first two-position three-way reversing valve 22 has three working oil ports, A / B / C, in the left position, B port and A port are connected, and in the right position, C port and A port are connected. The third three-way four-way solenoid valve 23 has three working positions, left, middle, and right, and has four working oil ports, A / B / C / D. In the left position, A port and C port are connected, and B port and D port are connected. In the middle position, A / B / C / D ports are disconnected, and in the right position, A port and D port are connected, and B port and C port are connected. The outlet of the rotary pump 21 is connected to the C port of the first two-position three-way reversing valve 22, and the A port of the first two-position three-way reversing valve 22 is connected to the C port of the third three-way four-way solenoid valve 23. In addition, the B port of the first two-position three-way reversing valve 22 is connected to the B port of the second three-way four-way solenoid valve 15 of the amplitude variation system 1. The pilot control port of the first two-position three-way reversing valve 22 is connected to the controller 41. The pilot ports on both sides of the third three-position four-way solenoid valve 23 are respectively connected to the two interfaces of the rotary handle 43. The first hydraulic control reversing valve 213 and the second hydraulic control reversing valve 214 are both two-position three-way valves.

[0031] The A port of the third three-position four-way solenoid valve 23 is connected to the first inlet of the first hydraulically controlled reversing valve 213 and the outlet of the first non-return valve 26 respectively, the oil outlet of the first hydraulically controlled reversing valve 213 is connected to the inlet of the rotary motor 215, the second inlet of the first hydraulically controlled reversing valve 213 is connected to the inlet of the first hydraulically controlled conversion valve 28, the inlet of the first hydraulically controlled unloading valve 24, and the inlet of the second non-return valve 211 respectively, the outlet of the second non-return valve 211 is connected to the inlet of the accumulator 31, and the outlet of the second non-return valve 211 is connected to the second three-position four-way solenoid valve 23 The D port of the electromagnetic valve 15 is connected, the outlet of the first hydraulically controlled conversion valve 28 and the outlet of the first hydraulically controlled unloading valve 24 are connected to the inlet of the first check valve 26, the oil discharge port of the first hydraulically controlled conversion valve 28 is connected to the inlet of the first hydraulically controlled conversion valve 28, the pilot oil port of the first hydraulically controlled conversion valve 28 is connected to the B port of the third three-position four-way electromagnetic valve 23, the pilot oil port of the first hydraulically controlled unloading valve 24 is connected to the inlet of the accumulator 31 and the D port of the second three-position four-way electromagnetic valve 15, and the pilot oil port of the first hydraulically controlled reversing valve 213 is connected to an outlet of the rotary handle 43; The B port of the third three-position four-way solenoid valve 23 is connected to the first inlet of the second hydraulically controlled reversing valve 214 and the outlet of the third one-way valve 27 respectively, the oil outlet of the second hydraulically controlled reversing valve 214 is connected to the outlet of the rotary motor 215, the second inlet of the second hydraulically controlled reversing valve 214 is connected to the first inlet of the second hydraulically controlled conversion valve 29, the inlet of the second hydraulically controlled unloading valve 25, and the inlet of the fourth one-way valve 212 respectively, the outlet of the fourth one-way valve 212 is connected to the inlet of the accumulator 31, and similarly, the outlet of the fourth one-way valve 212 is connected to the second three-position four-way solenoid valve 15, the outlet of the second hydraulically controlled conversion valve 29 and the outlet of the second hydraulically controlled unloading valve 25 are respectively connected to the inlet of the third check valve 27, the oil discharge port of the second hydraulically controlled conversion valve 29 is connected to the inlet of the second hydraulically controlled conversion valve 29, the pilot oil port of the second hydraulically controlled conversion valve 29 is connected to the A port of the third three-position four-way solenoid valve 23, the pilot oil port of the second hydraulically controlled unloading valve 25 is connected to the inlet of the accumulator 31 and the D port of the second three-position four-way solenoid valve 15, and the pilot oil port of the second hydraulically controlled reversing valve 214 is connected to the other outlet of the rotary handle 43. At the same time, a sixth check valve 216 is also provided between the D port of the second three-position four-way solenoid valve 15 and the outlets of the second check valve 211 and the fourth check valve 212, the inlet of the sixth check valve 216 is connected to the D port of the second three-position four-way solenoid valve 15, and the outlet of the sixth check valve 216 is connected to the outlets of the second check valve 211 and the fourth check valve 212.

[0032] The energy storage system 3 includes an accumulator 31, a fifth one-way valve 32, a stop valve 33, a third hydraulically controlled reversing valve 34, a supporting oil cylinder 35, and a brake oil cylinder 36. The fifth one-way valve 32 is arranged before the interface of the accumulator 31, and is used to prevent the stored hydraulic oil from flowing back into the slewing system 2 and the variable amplitude system 1. The inlet of the stop valve 33 is connected between the accumulator 31 and the fifth one-way valve 32, and the outlet of the stop valve 33 is connected to the inlet of the third hydraulically controlled reversing valve 34. One outlet of the third hydraulically controlled reversing valve 34 is connected to the inlet of the supporting oil cylinder 35, and the other outlet is connected to the inlet of the brake oil cylinder 36. The pilot control ports of the third hydraulically controlled reversing valve 34 and the stop valve 33 are connected to the controller 41.

[0033] The following is an explanation of the method of recovering the amplitude variation energy in the above hydraulic system.

[0034] When the first three-position four-way solenoid valve 13 works in the right position and the second three-position four-way solenoid valve 15 works in the middle position, the high-pressure oil discharged by the luffing pump 11 enters the right chamber of the luffing motor 17 through the right position of the first three-position four-way solenoid valve 13, the one-way valve in the balance valve 14 and the middle position of the second three-position four-way solenoid valve 15, and the low-pressure oil discharged from the left chamber of the luffing motor 17 flows back to the oil tank through the right position of the first three-position four-way solenoid valve 13. The luffing motor 17 works in the hydraulic motor working condition, and the tower crane boom is raised.

[0035] When the boom is lowered, there are two luffing energy recovery modes, namely pure energy storage mode and linkage mode.

[0036] In the pure energy storage mode, when the boom is lowered, the first three-position four-way solenoid valve 13 is switched to the middle position, the variable amplitude pump 11 is unloaded, and the boom begins to be lowered under the action of gravity, and the variable amplitude drum is driven to rotate through the wire rope. The variable amplitude drum transmits the large torque to the variable amplitude motor 17 through the reducer to make it rotate. At this time, the variable amplitude motor 17 works in the hydraulic pump working condition. In this process, the second three-position four-way solenoid valve 15 is switched to the right position, and the variable amplitude motor 17 absorbs oil through the oil replenishment valve 18. The discharged oil enters the accumulator 31 through the right position of the second three-position four-way solenoid valve 15 and is stored, so that the potential energy of the boom can be recovered. When the accumulator finishes recovering energy, it can be introduced into the lower oil circuit by controlling the stop valve 33 to drive other working mechanisms, such as the support cylinder 35 supporting the engineering machinery or the brake cylinder 36 used for the rotation and variable amplitude system braking, so as to realize the reuse of the recovered energy.

[0037] In linkage mode, when the boom is lowered, the first three-position four-way solenoid valve 13 is switched to the middle position, the variable-length pump is unloaded, and the boom begins to be lowered under the action of gravity, and the variable-length drum is driven to rotate through the wire rope. The variable-length drum transmits a large torque to the variable-length motor 17 through the reducer to make it rotate. At this time, the variable-length motor 17 works in the hydraulic pump working condition. In this process, the second three-position four-way solenoid valve 15 is switched to the left position, and the first two-position three-way reversing valve 22 of the slewing system 2 is switched to the left position. The variable-length motor 17 absorbs oil through the oil replenishment valve 18, and the discharged oil enters the third three-position four-way solenoid valve 23 through the left position of the second three-position four-way solenoid valve 15 and the left position of the first two-position three-way reversing valve 22. At this time, the third three-position four-way solenoid valve 23 is controlled to switch to the left position or the right position through the slewing handle 43, so that the hydraulic oil in the variable-length system 1 can be supplied to the slewing system 2, so that the clockwise or counterclockwise reset of the slewing system can be realized synchronously during the process of the boom variable-length lowering.

[0038] In the normal working state of the rotary system 2 , the first two-position three-way reversing valve 22 is switched to the right position, and the setting of the sixth one-way valve 216 prevents the high-pressure oil stored in the rotary system 2 from entering the loop of the variable amplitude system 1 and can only enter the accumulator 31 .

[0039] The above system allows the luffing hydraulic system to match the hydraulic system of the slewing mechanism, jointly recover and release energy, and realize synchronous operation of luffing and slewing at the same time, reducing intermediate energy loss. In actual operation, whether to adopt pure energy storage mode or linkage mode needs to be determined according to the luffing parameters of the luffing boom and the slewing system parameters. The linkage mode is used only when the luffing potential energy is greater than the slewing platform rotation kinetic energy. The specific determination method is carried out using the following formula:

[0040] m 1 g△y 1 +m 2 g△y 2 >1 / 2Jω 2 ,

[0041] In the formula, m 1 is the mass of the boom, m 2 is the total mass of the hook and cargo, y 1 is the height of the boom center of gravity change, y 2 The height of the hook and cargo center of gravity changes. J is the moment of inertia of the rotary platform, oh Design the rotation speed for the rotary platform.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0046] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An energy recovery and reuse type construction crane luffing mechanism, characterized in that: It includes a variable amplitude system, a rotary system, an energy storage system, and a control system. The variable amplitude system includes a variable amplitude pump, a first variable amplitude relief valve, a first three-position four-way solenoid valve, a balancing valve, a second three-position four-way solenoid valve, a second variable amplitude relief valve, a variable amplitude motor, and an oil replenishment valve; wherein the first three-position four-way solenoid valve includes three working positions: left, middle, and right, and has four working oil ports A / B / C / D. In the left position, ports A and D are connected, ports B and C are connected, in the middle position, ports B / C / D are connected, and in the right position, ports A and C are connected, and ports B and D are connected; the second three-position four-way solenoid valve includes three working positions: left, middle, and right, and has four working oil ports A / B / C / D. In the left position, only ports A and B are connected, in the middle position, only ports A and C are connected, and in the right position, only ports A and D are connected; The oil outlet of the variable-length pump is connected to the D port of the first three-position four-way solenoid valve, the B port of the first three-position four-way solenoid valve is connected to the oil inlet of the balancing valve, the oil outlet of the balancing valve is connected to the C port of the second three-position four-way solenoid valve, the A port of the second three-position four-way solenoid valve is connected to the oil inlet of the variable-length motor, the oil outlet of the variable-length motor is connected to the A port of the first three-position four-way solenoid valve, in addition, the oil inlet of the variable-length motor is connected to the oil inlet of the second variable-length relief valve, and the oil outlet of the variable-length motor is also connected to the oil outlet of the oil replenishing valve; The rotary system includes a rotary pump, a first- and second-position three-way reversing valve, and a third- and third-position four-way solenoid valve; the first- and second-position three-way reversing valve has three working oil ports, A / B / C, and the left position B port and A port are connected, and the right position C port and A port are connected; the third- and third-position four-way solenoid valve has three working positions, left, middle, and right, and four working oil ports, A / B / C / D. The left position A port and C port are connected, and the B port and D port are connected, the middle position A / B / C / D ports are disconnected, and the right position A port and D port are connected, and the B port and C port are connected.

2. The energy recovery and reuse type construction crane luffing mechanism according to claim 1, characterized in that: The control system comprises a single chip microcomputer controller, a luffing handle and a slewing handle, and the controller is connected with control ports of the luffing handle and the slewing handle.

3. The energy recovery and reuse type construction crane luffing mechanism according to claim 2, characterized in that: The outlet of the rotary pump is connected to the C port of the first two-position three-way reversing valve, and the A port of the first two-position three-way reversing valve is connected to the C port of the third three-position four-way solenoid valve; in addition, the B port of the first two-position three-way reversing valve is connected to the B port of the second three-position four-way solenoid valve of the amplitude variation system; the pilot control port of the first two-position three-way reversing valve is connected to the controller; the pilot ports on both sides of the third three-position four-way solenoid valve are respectively connected to the two interfaces of the rotary handle.

4. The energy recovery and reuse type construction crane luffing mechanism according to claim 3, characterized in that: The A port of the third three-position four-way solenoid valve is connected to the first inlet of the first hydraulically controlled reversing valve and the outlet of the first non-return valve respectively, the oil outlet of the first hydraulically controlled reversing valve is connected to the inlet of the rotary motor, the second inlet of the first hydraulically controlled reversing valve is connected to the inlet of the first hydraulically controlled conversion valve, the inlet of the first hydraulically controlled unloading valve and the inlet of the second non-return valve respectively, the outlet of the second non-return valve is connected to the inlet of the accumulator, and at the same time, the outlet of the second non-return valve is connected to the D port of the second three-position four-way solenoid valve of the rotary system, the outlet of the first hydraulically controlled conversion valve and the outlet of the first hydraulically controlled unloading valve are connected to the inlet of the first non-return valve, the oil discharge port of the first hydraulically controlled conversion valve is connected to the inlet of the first hydraulically controlled conversion valve, the pilot oil port of the first hydraulically controlled conversion valve is connected to the B port of the third three-position four-way solenoid valve, the pilot oil port of the first hydraulically controlled unloading valve is connected to the inlet of the accumulator and the D port of the second three-position four-way solenoid valve, and the pilot oil port of the first hydraulically controlled reversing valve is connected to an outlet of the rotary handle.

5. The energy recovery and reuse type construction crane luffing mechanism according to claim 4, characterized in that: The B port of the third three-position four-way solenoid valve is connected to the first inlet of the second hydraulically controlled reversing valve and the outlet of the third one-way valve respectively, the oil outlet of the second hydraulically controlled reversing valve is connected to the outlet of the rotary motor, the second inlet of the second hydraulically controlled reversing valve is connected to the first inlet of the second hydraulically controlled conversion valve, the inlet of the second hydraulically controlled unloading valve and the inlet of the fourth one-way valve respectively, the outlet of the fourth one-way valve is connected to the inlet of the accumulator, similarly, the outlet of the fourth one-way valve is connected to the D port of the second three-position four-way solenoid valve, the outlet of the second hydraulically controlled conversion valve and the outlet of the second hydraulically controlled unloading valve are connected to the inlet of the third one-way valve respectively, the second hydraulically controlled conversion valve The oil discharge port is connected with the inlet of the second hydraulically controlled conversion valve, the pilot oil port of the second hydraulically controlled conversion valve is connected with the A port of the third three-position four-way solenoid valve, the pilot oil port of the second hydraulically controlled unloading valve is connected with the inlet of the accumulator and the D port of the second three-position four-way solenoid valve, and the pilot oil port of the second hydraulically controlled reversing valve is connected with the other outlet of the rotary handle; at the same time, a sixth one-way valve is also arranged between the D port of the second three-position four-way solenoid valve and the outlet of the second and fourth one-way valves, the inlet of the sixth one-way valve is connected to the D port of the second three-position four-way solenoid valve, and the outlet of the sixth one-way valve is connected to the outlet of the second and fourth one-way valves.

6. A control method for the luffing mechanism of a construction crane of energy recovery and reuse type as claimed in claim 1, characterized in that: When the boom is lowered, there are two amplitude-change energy recovery modes, namely pure energy storage mode and linkage mode; in the pure energy storage mode, when the boom is lowered, the first three-position four-way solenoid valve is switched to the middle position, and the second three-position four-way solenoid valve is switched to the right position.

7. The control method of the luffing mechanism of a construction crane of energy recovery and reuse type as claimed in claim 6, characterized in that: In the linkage mode, when the boom is lowered, the first three-position four-way solenoid valve is switched to the middle position, the second three-position four-way solenoid valve is switched to the left position, and the first two-position three-way reversing valve of the slewing system is switched to the left position. At this time, the third three-position four-way solenoid valve is controlled to switch to the left or right position through the slewing handle, and the hydraulic oil in the luffing system is supplied to the slewing system, so that the clockwise or counterclockwise reset of the slewing system is synchronously achieved during the process of the boom luffing and lowering.

8. The control method of the luffing mechanism of a construction crane of energy recovery and reuse type as claimed in claim 7, characterized in that: The linkage mode is adopted only when the amplitude variation parameters and the rotation parameters satisfy the following formula: m 1 g△y 1 +m 2 g△y 2 >1 / 2Jω 2 ， In the formula, m 1 is the mass of the boom, m 2 is the total mass of the hook and cargo, y 1 is the height of the boom center of gravity change, y 2 The height of the hook and cargo center of gravity changes. J is the moment of inertia of the rotary platform, oh Design the rotation speed for the rotary platform.

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