Swing arm potential energy grading recovery system, method and device, controller and storage medium

Abstract

The embodiment of the invention provides a movable arm potential energy grading recovery system, method and device, a controller and a storage medium. The method comprises the following steps: determining target pressure corresponding to the displacement of the boom cylinder according to a preset mapping relation between displacement and pressure; and a potential energy recovery mode can be determined according to the target pressure and the pressure of the boom cylinder for potential energy recovery. In the non-light-load recovery mode, when the pressure of the energy-saving oil cylinder is smaller than that of the second energy accumulator, only the first energy accumulator is started; and when the pressure of the energy-saving oil cylinder is larger than that of the second energy accumulator, the second energy accumulator is started on the basis of starting the first energy accumulator, and the potential energy of the movable arm is recycled. Through series connection of the energy accumulators, potential energy recovery can be carried out on different load working conditions, the defects that the potential energy recovery proportion of a traditional energy accumulator and an energy-saving oil cylinder is fixed and cannot be controlled can be overcome, and the effect of improving the potential energy recovery efficiency of the variable-amplitude boom equipment is achieved.

Description

Technical Field

[0001] The present application relates to, in particular, a boom potential energy graded recovery system, method, device, controller and storage medium. Background Art

[0002] Energy recovery plays an increasingly important role in various fields of engineering and technology, especially in hydraulic systems and mechanical engineering. Effectively recovering and reusing the gravitational potential energy in the hydraulic system can significantly reduce the equipment's demand for external energy.

[0003] The traditional accumulator cylinder can recover the gravitational potential energy, but the energy recovery ratio is fixed. During the operation of the luffing boom equipment, the changes in its load and working posture lead to changes in the gravitational potential energy, which makes the fixed-ratio energy recovery efficiency low.

[0004] Therefore, how to improve the potential energy recovery efficiency of the variable-length boom equipment is an urgent problem to be solved. Summary of the invention

[0005] The present application provides a boom potential energy graded recovery system, method, device, controller and storage medium, which are used to improve the potential energy recovery efficiency of variable-length boom equipment.

[0006] In a first aspect, the present application provides a boom potential energy graded recovery system, comprising: a boom cylinder, an energy-saving cylinder, a pressure sensor, a first accumulator, a second accumulator, a displacement sensor, and a controller;

[0007] The energy-saving oil cylinder is connected to the main oil pipeline;

[0008] The first accumulator is connected to the main oil delivery pipeline via an electromagnetic reversing valve;

[0009] The second accumulator is connected to the main oil pipeline via an electromagnetic reversing valve;

[0010] The initial filling pressure of the first accumulator is less than the initial filling pressure of the second accumulator;

[0011] A plurality of pressure sensors are respectively arranged in the boom cylinder, the energy-saving cylinder, the first accumulator and the second accumulator;

[0012] The displacement sensor is arranged in the boom cylinder and is used to detect the displacement of the boom cylinder;

[0013] The controller is respectively connected to each pressure sensor, each electromagnetic reversing valve and the displacement sensor.

[0014] In some implementations, the first accumulator is connected to the main oil pipeline via an electromagnetic reversing valve, including:

[0015] The first accumulator is connected to the main oil pipeline through a first recovery pipeline and a first release pipeline respectively; wherein a first electromagnetic reversing valve is provided on the first recovery pipeline, and a second electromagnetic reversing valve is provided on the first release pipeline;

[0016] Correspondingly, the second accumulator is connected to the oil delivery main pipeline through an electromagnetic reversing valve, including:

[0017] The second accumulator is connected to the main oil delivery pipeline through a second recovery pipeline and a second release pipeline respectively; wherein a third electromagnetic reversing valve is arranged on the second recovery pipeline, and a fourth electromagnetic reversing valve is arranged on the second release pipeline.

[0018] In some implementations,

[0019] A first one-way valve is provided on the first recovery pipeline, and the first one-way valve is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve to the first accumulator;

[0020] A second one-way valve is provided on the first release pipeline, and the second one-way valve is used to allow the liquid oil in the first release pipeline to flow from the first accumulator to the electromagnetic reversing valve;

[0021] A third one-way valve is provided on the second recovery pipeline, and the third one-way valve is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve to the second accumulator;

[0022] The second release pipeline is provided with a fourth one-way valve, and the fourth one-way valve is used to allow the liquid oil in the first release pipeline to flow from the second accumulator to the electromagnetic reversing valve.

[0023] In some implementations, the system further includes: a third accumulator;

[0024] The third accumulator is connected to the main oil pipeline through a third recovery pipeline and a third release pipeline respectively;

[0025] The third recovery pipeline is provided with a fifth electromagnetic reversing valve, and the second release pipeline is provided with a sixth electromagnetic reversing valve;

[0026] A fifth one-way valve is provided on the third recovery pipeline, and the fifth one-way valve is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve to the third accumulator;

[0027] The third release pipeline is provided with a sixth one-way valve, and the sixth one-way valve is used to allow the liquid oil in the first release pipeline to flow from the third accumulator to the electromagnetic reversing valve.

[0028] In some implementations, a volume of the first accumulator is greater than a volume of the second accumulator.

[0029] In some implementations, a gas pressure in the first accumulator is less than a gas pressure in the second accumulator.

[0030] In a second aspect, the present application further provides a boom potential energy graded recovery method, which is applied to a controller of a boom potential energy graded recovery system according to any one of the first aspects, and the method comprises:

[0031] Obtain the displacement of the boom cylinder, the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator;

[0032] Determining a target pressure corresponding to the displacement according to a preset mapping relationship between displacement and pressure;

[0033] The boom potential energy is recovered according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator.

[0034] In some implementations, the recovering the boom potential energy according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator includes:

[0035] If the pressure of the boom cylinder is greater than the target pressure, a non-light load recovery strategy is executed according to the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator;

[0036] The non-light load recovery strategy includes:

[0037] During the boom lowering process, if the pressure of the energy-saving cylinder is greater than the pressure of the first accumulator and less than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the main oil pipeline is controlled to open so that the liquid oil is stored in the first accumulator;

[0038] During the boom lowering process, if the pressure of the energy-saving cylinder is greater than the pressure of the first accumulator and greater than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the oil main pipeline is controlled to open, and the electromagnetic reversing valve between the second accumulator and the oil main pipeline is controlled to open, so that the liquid oil is stored in the first accumulator and the second accumulator.

[0039] In some implementations, the recovering the boom potential energy according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator includes:

[0040] If the pressure of the boom cylinder is less than or equal to the target pressure, a light load recovery strategy is executed;

[0041] The light load recovery strategy includes:

[0042] During the boom lowering process, the electromagnetic reversing valve between the first accumulator and the main oil delivery pipeline is controlled to open, so that the liquid oil is stored in the first accumulator.

[0043] In a third aspect, the present application further provides a boom potential energy classification recovery device, the device comprising:

[0044] An acquisition module, used to acquire the displacement of the boom cylinder, the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator;

[0045] A determination module, used to determine a target pressure corresponding to the displacement according to a preset mapping relationship between displacement and pressure;

[0046] The execution module is used to recover the boom potential energy according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator.

[0047] In a fourth aspect, the present application further provides a controller, comprising: a memory, a processor;

[0048] The memory stores computer-executable instructions;

[0049] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above second aspect and / or various possible implementations of the second aspect.

[0050] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above second aspect and / or various possible implementations of the second aspect.

[0051] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above second aspect and / or various possible implementation methods of the second aspect.

[0052] The present application provides a boom potential energy graded recovery system, method, device, controller and storage medium, the method comprising: determining the target pressure corresponding to the displacement of the boom cylinder according to a preset mapping relationship between displacement and pressure; determining the potential energy recovery mode according to the target pressure and the pressure of the boom cylinder to recover the potential energy. In the non-light load recovery mode, when the pressure of the energy-saving cylinder is less than the pressure of the second accumulator, only the first accumulator is opened; when the pressure of the energy-saving cylinder is greater than the pressure of the second accumulator, the second accumulator is opened on the basis of opening the first accumulator to recover the boom potential energy. By connecting the accumulators in series, potential energy can be recovered for different load conditions, which can make up for the defects of the fixed and uncontrollable potential energy recovery ratio of the traditional accumulator and the energy-saving cylinder, so as to achieve the effect of improving the potential energy recovery efficiency of the variable-length boom equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0054] Figure 1 Structural schematic diagram of the boom potential energy graded recovery system provided for this application Figure 1 ;

[0055] Figure 2 Structural schematic diagram of the boom potential energy graded recovery system provided for this application Figure 2 ;

[0056] Figure 3 A schematic diagram of the process of the boom potential energy graded recovery method provided in this application;

[0057] Figure 4 A schematic diagram of the structure of the boom potential energy graded recovery device provided in this application;

[0058] Figure 5 A schematic diagram of the structure of the controller provided in this application.

[0059] Explanation of the accompanying drawings: 1-variable pump; 2-gear pump; 3-three-position four-way solenoid reversing valve; 4-boom cylinder; 5-energy-saving cylinder; 6-pressure sensor; 7-accumulator; 8-solenoid reversing valve; 9-check valve; 10-overflow valve; 11-pressure reducing valve, 12-two-position three-way solenoid reversing valve; 13-oil tank; 14-displacement sensor; 15-controller; 16-motor.

[0060] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0061] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0062] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0063] First, the terms involved in this application are explained:

[0064] Luffing boom equipment: refers to a mechanical device equipped with a boom of variable length and angle, which can adjust the position of the boom as needed to adapt to different operating requirements. It can be used in combination with various auxiliary equipment (such as hooks, grabs, excavator buckets, etc.) to perform a variety of tasks.

[0065] The luffing boom equipment usually consists of a hydraulic system, an electric motor and a mechanical structure. The boom can be raised and lowered and extended by the control of the hydraulic cylinder.

[0066] Traditional accumulators and cylinders can recover gravity potential energy, but the energy recovery ratio is fixed and cannot fully adapt to the potential energy recovery of variable-length boom equipment.

[0067] When the boom range is far, the recovery ratio of the accumulator system decreases and the recovery effect is poor. When the boom range is close, the back pressure of the accumulator system is high and additional pressure is required to reduce it.

[0068] In view of the above problems, the present application provides a boom potential energy graded recovery system and method. When recovering potential energy, it is determined whether to open one accumulator or multiple accumulators according to the pressure of the energy-saving cylinder and the boom cylinder. When multiple accumulators are opened, multiple accumulators work together to recover and release potential energy. This method can make up for the defects of the traditional accumulators and recovery cylinders that the recovery ratio is fixed and uncontrollable, and can also avoid the situation where the back pressure is too large and the additional pressurization work is required to reduce the potential energy recovery ratio.

[0069] The solution of the present application can be applied to scenarios such as grabbers, excavators, and cranes.

[0070] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0071] Figure 1 Structural schematic diagram of the boom potential energy graded recovery system provided for this application Figure 1 ,like Figure 1 As shown, the boom potential energy graded recovery system includes: a variable pump 1, a gear pump 2, a three-position four-way electromagnetic reversing valve 3, a boom cylinder 4, an energy-saving cylinder 5, a pressure sensor 6, an accumulator 7, an electromagnetic reversing valve 8, a displacement sensor 14 and a controller 15.

[0072] The energy accumulator 7 includes a first energy accumulator 7 a and a second energy accumulator 7 b .

[0073] exist Figure 1 In the figure, two boom cylinders are shown, namely, boom cylinder 4a and boom cylinder 4b.

[0074] Variable displacement pump 1 provides hydraulic oil source for the extension and retraction of the boom cylinder.

[0075] The three-position four-way reversing valve 3 is used to switch the extension and retraction of the boom cylinder.

[0076] The energy-saving oil cylinder 5 is connected to the main oil pipeline.

[0077] The first accumulator 7a is connected to the main oil pipeline through the electromagnetic reversing valve 8; in one implementation, the first accumulator 7a is connected to the oil pipeline through two branch pipelines, one branch pipeline is used to recover oil, and the recovery branch is provided with an electromagnetic reversing valve 8a; one branch pipeline is used to release oil, and the release branch is provided with an electromagnetic reversing valve 8d for controlling the opening and closing of the pipeline. In another implementation, the first accumulator 7a is connected to the oil pipeline through a pipeline, and an electromagnetic reversing valve (not shown in the figure) is provided on the pipeline.

[0078] The second accumulator 7b is connected to the main oil pipeline through the electromagnetic reversing valve 8; in one implementation, the second accumulator 7b is connected to the oil pipeline through two branch pipelines, one branch pipeline is used to recover oil, and the recovery branch is provided with an electromagnetic reversing valve 8b; one branch pipeline is used to release oil, and the release branch is provided with an electromagnetic reversing valve 8e for controlling the opening and closing of the pipeline. In another implementation, the second accumulator 7b is connected to the oil pipeline through a pipeline, and an electromagnetic reversing valve (not shown in the figure) is provided on the pipeline.

[0079] The first accumulator is used as an accumulator under light load conditions. The initial filling pressure of the first accumulator 7a is less than the initial filling pressure of the second accumulator 7b. With this setting, when the load is light, the pressure is small and only the first accumulator is used. Under non-light load conditions, the pressure of the first accumulator can be relieved by the high-pressure second accumulator, and the recovery effect can be improved by recovering the second accumulator. The definition of light load and non-light load will be explained in the subsequent method embodiments.

[0080] In some embodiments, the first accumulator 7a is larger in volume than the second accumulator 7b.

[0081] In some embodiments, the gas pressure in the first accumulator 7a is less than the gas pressure in the second accumulator 7b. In some embodiments, the gas in the accumulator is nitrogen.

[0082] A plurality of pressure sensors 6 are respectively arranged in the boom cylinder 4, the energy-saving cylinder 5, the first accumulator 7a and the second accumulator 7a, or arranged outside thereof. Figure 1 It is shown that the pressure sensor 6a is arranged outside the energy-saving cylinder 5, the pressure sensor 6b is arranged outside the boom cylinder 4, the pressure sensor 6c is arranged outside the first accumulator 7a, and the pressure sensor 6d is arranged outside the second accumulator 7b.

[0083] The displacement sensor 14 is arranged in the boom cylinder 4 to detect the displacement of the boom cylinder. Optionally, the displacement sensor can also be replaced by a boom angle sensor, which is arranged on the mechanical arm to detect the posture of the mechanical arm and determine the displacement of the boom cylinder.

[0084] The controller 15 is connected to each pressure sensor 6, each electromagnetic reversing valve (including the electromagnetic reversing valve 8 and the three-position four-way electromagnetic reversing valve 3) and the displacement sensor 14. The dotted lines in the figure represent the line connection. The controller can receive the signals of the sensor and the displacement sensor and control the switch of the electromagnetic valve. Not all connections are shown in the figure.

[0085] Optionally, the system further includes a relief valve 10 , a pressure reducing valve 11 , a two-position three-way electromagnetic reversing valve 12 , an oil tank 13 , and an electric motor 16 .

[0086] The relief valve 10 is used to limit the energy-saving cylinder pressure.

[0087] The passage formed by the oil tank 13, the gear pump 2, the two-position three-way electromagnetic reversing valve 12, and the pressure reducing valve 11 is used to charge the accumulator. Charging method: the boom is raised to the top, the two-position three-way electromagnetic reversing valve 12 and the two-position two-way reversing valve 8a are energized, and the gear pump 2 charges the first accumulator 7a. When the pressure of the accumulator 7a is charged to the preset pressure P1, the two-position three-way electromagnetic reversing valve 12 and the two-position two-way reversing valve 8d lose power; similarly, the second accumulator 7b can be charged to the preset pressure P2. P2 is greater than P1.

[0088] For the boom potential energy graded recovery system, during the boom lowering process, the oil in the energy-saving oil cylinder 5 is recovered to the first accumulator and / or the second accumulator. When recovering potential energy, the electromagnetic reversing valve in front of the first accumulator is energized to make the first accumulator work, and whether to open the second accumulator is determined based on the pressure measured by the pressure sensor. When the pressure meets the preset conditions, the second accumulator is opened on the basis of opening the first accumulator, and potential energy is recovered through the second accumulator, thereby realizing graded potential energy recovery. The specific control method will be introduced in the subsequent method embodiments.

[0089] According to the configuration of the above system embodiment, the system can also be configured with three accumulators or four accumulators, and the principle is similar. If it is configured with three accumulators, the initial filling pressure of the third accumulator must be greater than the initial filling pressure of the second accumulator, the gas pressure of the third accumulator must be greater than the gas pressure of the second accumulator, and the initial filling pressure of the second accumulator must be greater than the initial filling pressure of the first accumulator. If it is configured with four accumulators, the initial filling pressure of the fourth accumulator must be greater than the initial filling pressure of the third accumulator, and the gas pressure of the fourth accumulator must be greater than the gas pressure of the third accumulator.

[0090] The system is further introduced below with three accumulators.

[0091] Figure 2 Structural schematic diagram of the boom potential energy graded recovery system provided for this application Figure 2 ,like Figure 2 As shown,

[0092] The first accumulator 7a, the second accumulator 7b and the third accumulator 7c are respectively connected to the oil pipeline.

[0093] The first accumulator 7a is connected to the main oil pipeline through a first recovery pipeline and a first release pipeline respectively; wherein a first electromagnetic reversing valve 8a is provided on the first recovery pipeline, and a second electromagnetic reversing valve 8d is provided on the first release pipeline.

[0094] The first recovery pipeline is provided with a first one-way valve 9a, which is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve 8a to the first accumulator 7a.

[0095] A second one-way valve 9d is provided on the first release pipeline, and the second one-way valve is used to allow the liquid oil in the first release pipeline to flow from the first accumulator 7a to the electromagnetic reversing valve 8d.

[0096] The second accumulator 7b is connected to the main oil pipeline through a second recovery pipeline and a second release pipeline respectively; wherein a third electromagnetic reversing valve 8b is arranged on the second recovery pipeline, and a fourth electromagnetic reversing valve 8e is arranged on the second release pipeline.

[0097] A third one-way valve 9b is provided on the second recovery pipeline, and the third one-way valve 9b is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve 8b to the second accumulator 7b;

[0098] A fourth one-way valve 9e is provided on the second release pipeline, and the fourth one-way valve is used to allow the liquid oil in the first release pipeline to flow from the second accumulator 7b to the electromagnetic reversing valve 8e.

[0099] The third accumulator 7c is connected to the main oil pipeline through a third recovery pipeline and a third release pipeline respectively; wherein a fifth electromagnetic reversing valve 8c is arranged on the third recovery pipeline, and a sixth electromagnetic reversing valve 8f is arranged on the third release pipeline.

[0100] A fifth one-way valve 9c is provided on the third recovery pipeline, and the fifth one-way valve 9c is used to allow the liquid oil in the third recovery pipeline to flow from the electromagnetic reversing valve 8c to the third accumulator 7c;

[0101] The third release pipeline is provided with a sixth one-way valve 9f, and the sixth one-way valve 9f is used to allow the liquid oil in the third release pipeline to flow from the third accumulator 7c to the electromagnetic reversing valve 8f.

[0102] In the system of this embodiment, three accumulators are provided, which can perform three-level potential energy recovery according to pressure changes, and the flow direction of the liquid can be better controlled by controlling the one-way valve.

[0103] Based on any of the above system embodiments, a control method for potential energy recovery is introduced with the controller in the system as the execution subject.

[0104] Figure 3 The schematic diagram of the process of the boom potential energy graded recovery method provided in this application is as follows: Figure 3 As shown, the following steps are included:

[0105] S101, obtaining the displacement of the boom cylinder, the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator.

[0106] S102, determining a target pressure corresponding to the displacement of the boom cylinder according to a preset mapping relationship between displacement and pressure.

[0107] In one implementation, the preset mapping relationship between displacement and pressure is a pressure value obtained by testing at different displacements according to a preset load weight in advance and stored in the controller.

[0108] Exemplarily, the mapping relationship between displacement and pressure under a load of 5 tons is tested.

[0109] As another example, the mapping relationship between displacement and pressure under loads of 3 tons, 6 tons, and 9 tons is tested respectively.

[0110] S103, recovering the boom potential energy according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator.

[0111] In one implementation, the recovery strategy is divided into light load and non-light load only, and the target pressure is determined by the mapping relationship between displacement and pressure under a load of 5 tons. If the pressure of the boom cylinder is less than or equal to the target pressure, it means that the load is less than 5 tons, and the light load recovery strategy is executed.

[0112] If the pressure of the boom cylinder is less than or equal to the target pressure, the light load recovery strategy is executed. The light load recovery strategy includes: during the boom lowering process, the electromagnetic reversing valve between the first accumulator and the oil delivery main pipeline is controlled to open, so that the liquid oil is stored in the first accumulator. That is, when the pressure is less than the target pressure, only the first accumulator is opened.

[0113] If the pressure of the boom cylinder is greater than the target pressure, the non-light load recovery strategy is executed according to the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator. The non-light load recovery strategy includes:

[0114] During the boom lowering process, if the pressure of the energy-saving oil cylinder is greater than the pressure of the first accumulator and less than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the main oil pipeline is controlled to open, so that the liquid oil is stored in the first accumulator. That is, when the pressure of the energy-saving oil cylinder is less than the pressure of the second accumulator, the second accumulator is not opened.

[0115] During the boom lowering process, if the pressure of the energy-saving cylinder is greater than the pressure of the first accumulator and greater than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the oil main pipeline is controlled to open, and the electromagnetic reversing valve between the second accumulator and the oil main pipeline is controlled to open, so that the liquid oil is stored in the first accumulator and the second accumulator.

[0116] In one implementation, the recovery strategies are divided into light load, medium load, and heavy load. The first target pressure corresponding to the displacement is determined by the mapping relationship between displacement and pressure under a 3-ton load, the second target pressure corresponding to the displacement is determined by the mapping relationship between displacement and pressure under a 6-ton load, and the third target pressure corresponding to the displacement is determined by the mapping relationship between displacement and pressure under a 9-ton load. By judging whether the pressure of the boom cylinder is in the first target pressure, the second target pressure, or the third target pressure, it can be determined whether the light load recovery strategy, the medium load recovery strategy, or the heavy load recovery strategy is adopted.

[0117] It should be noted that the weight of the test load in the above preset displacement and pressure mapping relationship is not limited and can be set according to actual needs. The classification of the recovery strategy is also not limited and can be divided into four or more types.

[0118] Through the above method, when the load is light, only the first accumulator is used for potential energy recovery; when the load is not light, and the pressure of the energy-saving cylinder is greater than the pressure of the second accumulator, on the basis of using the first accumulator, the second accumulator with a higher pressure than the first accumulator is opened to compress the liquid oil in the energy-saving cylinder into the second accumulator. Compared with using only a single accumulator, during the recovery process, as the pressure of the energy-saving cylinder increases, the potential energy recovery of the first accumulator is fixed. At this time, opening the second accumulator for auxiliary recovery can increase the recovery ratio of potential energy. Make up for the defects of the fixed and uncontrollable potential energy recovery ratio of traditional accumulators and energy-saving cylinders.

[0119] The following is a detailed introduction using an example, in which three recovery strategies are divided into light load, medium load and heavy load, and three accumulators are set in the system.

[0120] Potential energy recovery is divided into three modes: ① light load recovery; ② medium load recovery; ③ heavy load recovery;

[0121] The rodless chamber pressure of the boom cylinder is recorded as P moving, the energy-saving cylinder pressure is recorded as P section, the low-pressure accumulator 7a pressure is recorded as P low, the medium-pressure accumulator 7b pressure is recorded as P medium, and the high-pressure accumulator 7c pressure is recorded as P high; P01, P02, and P03 are the nitrogen pressures of accumulators 7a, 7b, and 7c respectively, V1, V2, and V3 are the volumes of accumulators 7a, 7b, and 7c; P1, P2, and P3 are the initial filling pressures of accumulators 7a, 7b, and 7c. The corresponding relationships are: P01 < P02 < P03, V1 > V2 > V3, and P3 > P2 > P1.

[0122] When the boom is lowered, the boom cylinder displacement can be calculated based on the boom angle sensor or displacement sensor, and the target pressure in this displacement state can be obtained based on the preset mapping relationship between displacement and pressure: P light load, P medium load, P heavy load.

[0123] If P_moving ≤ P_light_load, it is the light-load recovery mode; if P_light_load < P_moving ≤ P_medium_load, it is the medium-load recovery mode; if P_medium_load < P_moving ≤ P_heavy_load, it is the heavy-load recovery mode; further, if P_moving > P_heavy_load, it is the overloaded condition and descent is prohibited.

[0124] ① In the light-load recovery mode, during the descent of the boom, the two-position two-way solenoid directional control valve 8a is energized, the solenoid valve opens, the energy-saving oil cylinder retracts, and part of the gravitational potential energy of the boom is recovered by the accumulator 7a and converted into high-pressure hydraulic energy of the hydraulic oil; when the boom stops moving, 8a stops being energized; when the boom rises, 8d is energized, and the high-pressure hydraulic oil stored in the accumulator 7a drives the energy-saving oil cylinder 5 to extend to assist the boom in rising.

[0125] ② Similarly, in the medium-load recovery mode: during the descent of the boom, when P1 < P_saving ≤ P2, 8a is energized; when continuing to descend, when P_saving ≥ P2, 8a and 8b are energized. When the boom stops moving, 8a and 8b stop being energized; when the boom rises, 8d and 8e are energized, and the high-pressure hydraulic oil stored in the accumulators 7a and 7b drives the energy-saving oil cylinder 5 to extend to assist the boom in rising: when P_saving ≥ P2, 8d and 8e are energized, when P1 < P_saving ≤ P2, 8e loses power, 8d is energized, and when stopped, both lose power.

[0126] ③ In the heavy-load recovery mode: during the descent of the boom, when P1 < P_saving ≤ P2, only 8a is energized; when continuing to descend, when P2 < P_saving ≤ P3, 8a and 8b are energized; when continuing to descend, when P_saving > P3, 8a, 8b, and 8c are all energized. When the boom rises, 8d, 8e, and 8f are energized, and the high-pressure hydraulic oil stored in the accumulators 7a, 7b, and 7c drives the energy-saving oil cylinder 5 to extend to assist the boom in rising: when P_saving ≥ P3, 8d, 8e, and 8f are energized; when P2 < P_saving ≤ P3, 8f loses power, 8d and 8e are energized; when stopped when P1 < P_saving ≤ P2, 8f and 8e lose power, 8d is energized; when the boom stops, all lose power.

[0127] According to the actual displacement and pressure data of the oil cylinder to determine which recovery mode it is in, and in different recovery modes, control the opening and closing of the low, medium, and high-pressure accumulators for potential energy recovery and release. Realize hierarchical recovery and release to increase the recovery ratio.

[0128] By connecting the low, medium, and high-pressure accumulators in series to recover potential energy under different load conditions, it can make up for the defects of the traditional accumulator + recovery oil cylinder potential energy recovery hydraulic system, such as the fixed and uncontrollable recovery ratio, and can avoid the situation of additional pressurization work required for descent due to excessive back pressure, and realize the improvement of the potential energy recovery ratio.

[0129] Figure 4 It is a structural schematic diagram of the boom potential energy hierarchical recovery device provided by this application, as Figure 4As shown, a boom potential energy classification recovery device 400 comprises:

[0130] An acquisition module 401 is used to acquire the displacement of the boom cylinder, the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator;

[0131] A determination module 402 is used to determine a target pressure corresponding to the displacement according to a preset mapping relationship between displacement and pressure;

[0132] The execution module 403 is used to recover the boom potential energy according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator.

[0133] Optionally, the execution module 403 is specifically used to:

[0134] If the pressure of the boom cylinder is greater than the target pressure, a non-light load recovery strategy is executed according to the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator;

[0135] The non-light load recovery strategy includes:

[0136] During the boom lowering process, if the pressure of the energy-saving cylinder is greater than the pressure of the first accumulator and less than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the main oil pipeline is controlled to open so that the liquid oil is stored in the first accumulator;

[0137] During the boom lowering process, if the pressure of the energy-saving cylinder is greater than the pressure of the first accumulator and greater than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the oil main pipeline is controlled to open, and the electromagnetic reversing valve between the second accumulator and the oil main pipeline is controlled to open, so that the liquid oil is stored in the first accumulator and the second accumulator.

[0138] Optionally, the execution module 403 is specifically used to:

[0139] If the pressure of the boom cylinder is less than or equal to the target pressure, a light load recovery strategy is executed;

[0140] The light load recovery strategy includes:

[0141] During the boom lowering process, the electromagnetic reversing valve between the first accumulator and the main oil delivery pipeline is controlled to open, so that the liquid oil is stored in the first accumulator.

[0142] The boom potential energy graded recovery device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0143] Figure 5 This is a schematic diagram of the structure of the controller provided in this application. Figure 5 As shown, the controller 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the controller 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0144] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0145] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0146] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0147] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0148] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0149] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0150] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0151] The present application also provides a mechanical device, including a boom potential energy graded recovery system, which can implement the method in the above method embodiment.

[0152] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0153] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0154] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0155] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0157] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0158] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0159] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A boom potential energy classification recovery system, characterized in that: include: Boom cylinder, energy-saving cylinder, pressure sensor, first accumulator, second accumulator, displacement sensor and controller; The energy-saving oil cylinder is connected to the main oil pipeline; The first accumulator is connected to the main oil delivery pipeline via an electromagnetic reversing valve; The second accumulator is connected to the main oil pipeline via an electromagnetic reversing valve; The initial filling pressure of the first accumulator is less than the initial filling pressure of the second accumulator; A plurality of pressure sensors are respectively arranged in the boom cylinder, the energy-saving cylinder, the first accumulator and the second accumulator; The displacement sensor is arranged in the boom cylinder and is used to detect the displacement of the boom cylinder; The controller is connected to each pressure sensor, each electromagnetic reversing valve and the displacement sensor respectively.

2. The system according to claim 1, characterized in that The first accumulator is connected to the main oil pipeline through an electromagnetic reversing valve, and comprises: The first accumulator is connected to the main oil pipeline through a first recovery pipeline and a first release pipeline respectively; wherein a first electromagnetic reversing valve is provided on the first recovery pipeline, and a second electromagnetic reversing valve is provided on the first release pipeline; Correspondingly, the second accumulator is connected to the oil delivery main pipeline through an electromagnetic reversing valve, including: The second accumulator is connected to the main oil delivery pipeline through a second recovery pipeline and a second release pipeline respectively; wherein a third electromagnetic reversing valve is arranged on the second recovery pipeline, and a fourth electromagnetic reversing valve is arranged on the second release pipeline.

3. The system according to claim 2, characterized in that A first one-way valve is provided on the first recovery pipeline, and the first one-way valve is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve to the first accumulator; A second one-way valve is provided on the first release pipeline, and the second one-way valve is used to allow the liquid oil in the first release pipeline to flow from the first accumulator to the electromagnetic reversing valve; A third one-way valve is provided on the second recovery pipeline, and the third one-way valve is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve to the second accumulator; The second release pipeline is provided with a fourth one-way valve, and the fourth one-way valve is used to allow the liquid oil in the first release pipeline to flow from the second accumulator to the electromagnetic reversing valve.

4. The system according to claim 3, characterized in that The system further comprises: a third accumulator; The third accumulator is connected to the main oil pipeline through a third recovery pipeline and a third release pipeline respectively; The third recovery pipeline is provided with a fifth electromagnetic reversing valve, and the second release pipeline is provided with a sixth electromagnetic reversing valve; A fifth one-way valve is provided on the third recovery pipeline, and the fifth one-way valve is used to allow the liquid oil in the first recovery pipeline to flow from the electromagnetic reversing valve to the third accumulator; The third release pipeline is provided with a sixth one-way valve, and the sixth one-way valve is used to allow the liquid oil in the first release pipeline to flow from the third accumulator to the electromagnetic reversing valve.

5. The system according to any one of claims 1 to 3, characterized in that: The volume of the first accumulator is greater than the volume of the second accumulator.

6. The system according to any one of claims 1 to 3, characterized in that: The gas pressure in the first accumulator is lower than the gas pressure in the second accumulator.

7. A method for recovering boom potential energy in stages, characterized in that: A controller for a boom potential energy graded recovery system according to any one of claims 1 to 6, the method comprising: Obtaining the displacement of the boom cylinder, the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator; Determining a target pressure corresponding to the displacement according to a preset mapping relationship between displacement and pressure; The boom potential energy is recovered according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator.

8. The method according to claim 7, characterized in that The recovering the boom potential energy according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator comprises: If the pressure of the boom cylinder is greater than the target pressure, a non-light load recovery strategy is executed according to the pressure of the energy-saving cylinder, the pressure of the first accumulator, and the pressure of the second accumulator; The non-light load recovery strategy includes: During the boom lowering process, if the pressure of the energy-saving cylinder is greater than the pressure of the first accumulator and less than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the main oil pipeline is controlled to open so that the liquid oil is stored in the first accumulator; During the boom lowering process, if the pressure of the energy-saving cylinder is greater than the pressure of the first accumulator and greater than the pressure of the second accumulator, the electromagnetic reversing valve between the first accumulator and the oil main pipeline is controlled to open, and the electromagnetic reversing valve between the second accumulator and the oil main pipeline is controlled to open, so that the liquid oil is stored in the first accumulator and the second accumulator.

9. A boom potential energy grading recovery device, characterized in that: The device comprises: An acquisition module, used to acquire the displacement of the boom cylinder, the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator; A determination module, used to determine a target pressure corresponding to the displacement according to a preset mapping relationship between displacement and pressure; The execution module is used to recover the boom potential energy according to the target pressure and the pressure of the boom cylinder, the pressure of the energy-saving cylinder, the pressure of the first accumulator and the pressure of the second accumulator.

10. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to claim 7 or 8.

Images