Rotary braking energy recovery method, system and equipment of excavator and medium

Abstract

The invention discloses a rotary braking energy recovery method, system and equipment of an excavator and a medium, and belongs to the technical field of engineering machinery technologies. The rotary braking energy recovery method of the excavator comprises the steps that the residual electric quantity of a power battery of the excavator is determined; if the residual electric quantity is smaller than a preset value, the power battery is charged through braking energy generated by the rotary motor; and if the residual electric quantity is larger than or equal to the preset value, braking energy generated by the rotary motor is input into the main pump through the rotary motor driver and the main pump motor driver, so that the main pump conveys hydraulic oil to an actuator or an oil tank of the excavator through the recycled energy. According to the invention, the rotation braking energy can be effectively recovered, and the safety of the power battery is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method, system, equipment and medium for recovering rotary braking energy of an excavator. Background Art

[0002] With the rise of new energy, the electrification of construction machinery has entered a stage of rapid development. A variety of electric products have emerged on the market, and the configurations are becoming increasingly diverse. Among them, the electric swing function is one of these configurations. Excavators have the working characteristics of frequent braking in a short period of time. The energy generated by the above process can be directly used for pulse charging of power batteries. The energy recovery achieved in this way can extend the operation time of the machine.

[0003] When the power battery is in a high SOC (State of Charge, i.e., remaining power), excess braking energy may cause the power battery to have cell voltage over-high alarms, battery safety risks, and reduced battery performance life.

[0004] Therefore, how to effectively recover the rotational braking energy and improve the safety of the power battery is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0005] The purpose of this application is to provide a method, system, device and medium for recovering the swing braking energy of an excavator, which can effectively recover the swing braking energy and avoid excessive voltage of the power battery.

[0006] In order to solve the above technical problems, the present application provides a method for recovering energy by slewing braking of an excavator, wherein the slewing motor of the excavator is connected to the main pump motor driver through the slewing motor driver, the main pump motor driver is connected to the main pump motor, the main pump motor is connected to the main pump, and the slewing braking energy recovery method of the excavator comprises:

[0007] Determining the remaining power of the power battery of the excavator;

[0008] If the remaining power is less than a preset value, the power battery is charged using the braking energy generated by the rotary motor;

[0009] If the remaining power is greater than or equal to the preset value, the braking energy generated by the slewing motor is input into the main pump through the slewing motor driver and the main pump motor driver, so that the main pump uses the recovered energy to transport hydraulic oil to the actuator or oil tank of the excavator.

[0010] Optionally, the main pump is connected to a bypass valve and an actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator;

[0011] Correspondingly, if the remaining power is greater than or equal to the preset value, the method further includes:

[0012] Determine whether a rotation action signal is received;

[0013] If so, the actuator valve is controlled to be closed, and the bypass valve is controlled to be opened, so that the oil circuit between the main pump and the oil tank is connected.

[0014] Optionally, a relief valve is provided in the pipeline between the main pump and the bypass valve;

[0015] Correspondingly, after receiving the braking signal, the method further includes:

[0016] The actuator valve and the bypass valve are controlled to be closed, so that the main pump uses the recovered energy to deliver the hydraulic oil to the oil tank through the relief valve.

[0017] Optionally, the main pump is connected to a pump pilot valve;

[0018] Correspondingly, after receiving the braking signal, the method further includes:

[0019] The pump pilot valve is used to adjust the displacement of the main pump so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor.

[0020] Optionally, a pressure sensor is provided in the output pipeline of the main pump;

[0021] Accordingly, adjusting the displacement of the main pump by using the pump pilot valve includes:

[0022] Calculating the current energy recovery power of the main pump according to the pressure value collected by the pressure sensor;

[0023] The current of the pump pilot valve is adjusted according to the current energy recovery power and the braking power of the rotary motor so as to adjust the displacement of the main pump.

[0024] Optionally, the main pump is connected to a bypass valve and an actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator;

[0025] Correspondingly, if the remaining power is greater than or equal to the preset value, the method further includes:

[0026] Determining whether a composite action signal is received; wherein the composite action signal includes a rotation action signal and other action signals;

[0027] If so, the bypass valve is controlled to be closed, and the actuator valve is controlled to be opened, so that the oil circuit between the main pump and the actuator is conducted.

[0028] Optionally, after receiving the braking signal, the method further includes:

[0029] The bypass valve is controlled to be closed, and the actuator valve is controlled to be opened, so that the main pump uses the recovered energy to deliver the hydraulic oil to the actuator through the relief valve.

[0030] Optionally, the main pump is connected to a pump pilot valve, and a pressure sequence valve is provided in the pipeline between the main pump and the actuator;

[0031] Correspondingly, after receiving the braking signal, the method further includes:

[0032] The pump pilot valve and the pressure sequence valve are adjusted according to the outlet pressure value of the main pump so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor.

[0033] The present application also provides a rotary brake energy recovery system for an excavator, wherein the rotary motor of the excavator is connected to the main pump motor driver through the rotary motor driver, the main pump motor driver is connected to the main pump motor, the main pump motor is connected to the main pump, and the rotary brake energy recovery system for the excavator comprises:

[0034] A power determination module, used to determine the remaining power of the power battery of the excavator;

[0035] A first recovery module, configured to charge the power battery using the braking energy generated by the rotary motor if the remaining power is less than a preset value;

[0036] The second recovery module is used to input the braking energy generated by the rotary motor into the main pump through the rotary motor driver and the main pump motor driver if the remaining power is greater than or equal to the preset value, so that the main pump uses the recovered energy to transport the hydraulic oil to the actuator or oil tank of the excavator.

[0037] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned method for recovering the rotary braking energy of the excavator are implemented.

[0038] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the above-mentioned excavator's swing braking energy recovery method are implemented.

[0039] The present application provides a method for recovering the rotary braking energy of an excavator. The scheme connects the rotary motor of the excavator to the main pump motor driver, utilizes the energy generated by the rotary motor during the braking process, and determines the recovery method of the rotary braking energy according to the remaining power of the power battery. When the remaining power of the power battery is less than a preset value, the braking energy generated by the rotary motor is used to charge the power battery; when the remaining power of the power battery is greater than or equal to the preset value, the braking energy is input into the main pump through the rotary motor driver and the main pump motor driver, so that the main pump can use the braking energy to deliver hydraulic oil to the actuator or the oil tank. The above method avoids overcharging of the power battery and makes full use of the rotary braking energy. Therefore, the present application can effectively recover the rotary braking energy and improve the safety of the power battery. The present application also provides a rotary braking energy recovery system for an excavator, a storage medium and an electronic device, which have the above-mentioned beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A flow chart of a method for recovering rotary braking energy of an excavator provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of a pulse charging current curve of a power battery provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the braking energy recovery principle of an electric excavator provided in an embodiment of the present application;

[0044] Figure 4 A schematic structural diagram of a rotary brake energy recovery system for an excavator provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] See below Figure 1 , Figure 1 A flow chart of a method for recovering rotary braking energy of an excavator provided in an embodiment of the present application.

[0047] Specific steps may include:

[0048] S101: Determine the remaining power of the power battery of the excavator;

[0049] Among them, this embodiment can be applied to the whole vehicle controller of an excavator, and the excavator can also include a rotary motor, a rotary motor driver, a main pump motor driver, a main pump motor, a main pump, a power battery, an actuator and other devices. The rotary motor is connected to the main pump motor driver through the rotary motor driver, the main pump motor driver is connected to the main pump motor, and the main pump motor is connected to the main pump.

[0050] The above-mentioned excavator may also be provided with a battery management system (BMS), and the vehicle controller may interact with the battery management system to determine the proportion of the current remaining power of the power battery to the total capacity, that is, the remaining power.

[0051] S102: If the remaining power is less than a preset value, the power battery is charged using the braking energy generated by the rotary motor;

[0052] Among them, this embodiment can pre-set a critical value for recharging the power battery using braking energy, that is, a preset value (such as 97%), compare the current remaining power of the power battery with the preset value, and if the remaining power is less than the preset value, when the braking energy generated by the rotary motor is used, the power battery is charged using the braking energy. Specifically, the rotary motor can charge the power battery through the rotary motor driver.

[0053] S103: If the remaining power is greater than or equal to the preset value, the braking energy generated by the rotary motor is input into the main pump through the rotary motor driver and the main pump motor driver, so that the main pump uses the recovered energy to transport the hydraulic oil to the actuator or oil tank of the excavator.

[0054] Among them, this step is based on the fact that the remaining power of the power battery is greater than or equal to the preset value. At this time, when the braking energy generated by the rotary motor is generated, the braking energy generated by the rotary motor can be input into the main pump through the rotary motor driver and the main pump motor driver. In addition, this embodiment can also increase the resistor to consume the electric rotary braking energy, and can also increase the energy recovery auxiliary device for switching release.

[0055] The main pump can use the recovered braking energy to pump hydraulic oil from the tank and deliver it to various actuators of the excavator (such as arms, buckets, etc.) or return it to the tank as needed. The above process not only avoids the risk of battery overcharging, but also improves the energy utilization of the entire system.

[0056] This embodiment connects the excavator's slewing motor to the main pump motor driver, utilizes the energy generated by the slewing motor during the braking process, and determines the method of recovering the slewing braking energy according to the remaining power of the power battery. When the remaining power of the power battery is less than a preset value, the braking energy generated by the slewing motor is used to charge the power battery; when the remaining power of the power battery is greater than or equal to the preset value, the braking energy is input into the main pump through the slewing motor driver and the main pump motor driver, so that the main pump can use the braking energy to deliver hydraulic oil to the actuator or the oil tank. The above method avoids overcharging of the power battery and makes full use of the slewing braking energy. Therefore, this embodiment can effectively recover the slewing braking energy and improve the safety of the power battery.

[0057] As for Figure 1 In the further introduction of the corresponding embodiment, the main pump is connected to the bypass valve and the actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator. If the remaining power is greater than or equal to the preset value, this embodiment can determine whether a rotation action signal is received; if so, the actuator valve is controlled to be closed, and the bypass valve is controlled to be opened, so that the oil circuit between the main pump and the oil tank is connected.

[0058] The above-mentioned rotation action signal can be a signal input by the handle of the excavator, such as a left rotation action signal is input when the handle moves from the middle position to the left, and a right rotation action signal is input when the handle moves from the middle position to the right.

[0059] Specifically, this embodiment controls the actuator valve to be closed when only the swing action signal is received, and controls the bypass valve to be opened. Closing the actuator valve can avoid the additional load on the hydraulic system caused by other actions during the swing process, ensuring that the swing action is more stable and accurate. Opening the bypass valve can allow excess hydraulic oil to return directly to the oil tank, quickly releasing the excess pressure generated by the main pump.

[0060] As for Figure 1 In the further description of the corresponding embodiment, a relief valve is provided in the pipeline between the main pump and the bypass valve; after the rotary motor works, the rotation can be stopped by sending a brake signal. Accordingly, after receiving the brake signal, the embodiment can also control the actuator valve and the bypass valve to close, so that the main pump uses the recovered energy to transport the hydraulic oil to the oil tank through the relief valve.

[0061] The main pump uses the recovered energy to deliver the hydraulic oil to the tank through the relief valve. The relief valve plays a safety protection role in this process, ensuring that the pressure does not exceed the set safety range and allowing excess hydraulic oil to return to the tank smoothly.

[0062] As for Figure 1 In a further description of the corresponding embodiment, the main pump is connected to a pump pilot valve, and the pump pilot valve is used to control the displacement of the main pump. After receiving a brake signal, the pump pilot valve can be used to adjust the displacement of the main pump so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor.

[0063] Furthermore, a pressure sensor is provided in the output pipeline of the main pump, that is, the pressure sensor is provided between the actuator valve and the main pump. Accordingly, the displacement of the main pump can be adjusted in the following manners in this embodiment: the current energy recovery power of the main pump is calculated according to the pressure value collected by the pressure sensor; the current of the pump pilot valve is adjusted according to the current energy recovery power and the braking power of the rotary motor, so as to adjust the displacement of the main pump.

[0064] The output pipeline pressure of the main pump is related to the energy recovery power of the main pump. In this embodiment, the relationship between the output pipeline pressure and the energy recovery power can be calculated in advance, and the current energy recovery power of the main pump is calculated based on the relationship and the pressure value collected by the pressure sensor. The energy recovery power is the power provided by the braking energy recovered by the main pump.

[0065] As for Figure 1 According to a further description of the corresponding embodiment, the main pump is connected to the bypass valve and the actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator;

[0066] Correspondingly, if the remaining power is greater than or equal to the preset value, this step can determine whether a composite action signal is received; wherein the composite action signal includes a rotation action signal and other action signals; if so, the bypass valve is controlled to be closed, and the actuator valve is controlled to be opened to make the oil circuit between the main pump and the actuator conductive.

[0067] Furthermore, after receiving the brake signal, the bypass valve may be controlled to close and the actuator valve may be controlled to open, so that the main pump utilizes the recovered energy to deliver the hydraulic oil to the actuator through the overflow valve.

[0068] Furthermore, the main pump is connected to a pump pilot valve, and a pressure sequence valve is provided in the pipeline between the main pump and the actuator; accordingly, after receiving the brake signal, the pump pilot valve and the pressure sequence valve can also be adjusted according to the outlet pressure value of the main pump, so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor. The pressure sequence valve is used to control the action sequence of multiple actuators in the hydraulic system. The pressure sequence valve determines when to allow the oil circuit to be connected by sensing the system pressure, thereby ensuring that each actuator acts in a predetermined order.

[0069] The process described in the above embodiment is explained below through an embodiment in actual application.

[0070] See also Figure 2 , Figure 2 This is a schematic diagram of a pulse charging current curve of a power battery provided in an embodiment of the present application. The horizontal axis in the figure is the remaining power, and the vertical axis is the current value of the recharge. It can be seen that when the power battery is in working mode, the battery power is The pulse (30S) recharge current allowed changes from 230A to 0, and the process is a linear relationship. When the swing braking current is greater than the pulse recharge current allowed by the battery, the excess braking energy will cause a series of problems to the power battery, such as the cell voltage over-alarm, battery safety risks, and reduced battery performance life. When the power battery is in a high SOC state, the energy recovered by the battery becomes smaller and smaller, until the braking energy can no longer be recovered to the power battery. This energy can only be consumed by increasing the braking resistor or adding energy storage circuits and equipment. These measures are costly and it is also very difficult to install equipment in a limited space.

[0071] In response to the technical problems existing in the above-mentioned related technologies, this embodiment provides an electric swing braking energy control scheme for an electric excavator power battery under high SOC. This scheme can directly transfer the braking energy to the main pump motor for consumption, which saves space and cost, and can achieve the best performance of the entire machine.

[0072] See also Figure 3 , Figure 3 A schematic diagram of the braking energy recovery principle of an electric excavator provided in an embodiment of the present application shows a vehicle controller 1, a left joystick 2, a right joystick 3, a swing motor 4, a swing motor driver 5, a battery system 6, a main pump motor driver 7, a main pump motor 8, a main pump 9, a pump pilot valve 10, a relief valve 11, a bypass valve 12, a bypass pilot valve 13, an actuator pilot valve b14, a pressure sequence valve 15, an actuator valve 16, an actuator pilot valve a17, an actuator 18, a pressure sensor S1, a swing reducer and a swing platform J. M represents a motor, and the battery system includes a power battery.

[0073] During the swing brake, the braking energy of the swing motor is pulse-charged to the battery system through the swing motor driver or provides energy to the main pump through the main pump motor driver and the main pump motor. The main pump mainly provides the power source for the hydraulic circuit of each action of the excavator (except the swing action); the swing brake power ; T is the braking torque, which is set by the rotary motor driver; n is the rotary motor speed before braking. The machine corresponds to different speeds in different gears. Selecting the gear before working determines the current maximum target speed, and the current maximum braking power p can be calculated. The longest braking time is 3S, and the rotary motor speed is 0 after 3S.

[0074] When the remaining power SOC < When braking, the power battery can directly absorb the braking energy, that is, the battery is charged intermittently.

[0075] When the remaining power SOC ≥ , the power battery can no longer absorb the braking energy, and the swing braking energy must be completely absorbed by the main pump. The specific situation is as follows:

[0076] Case 1: The vehicle controller detects that the left or right electric control handle has only a single left or right rotation signal.

[0077] The left and right movements of the excavator's left electric control handle are the rotation signals, the middle position of the handle is the stop position, and the rotation signal is the driver's command to the system to move the rotation mechanism through the operating lever.

[0078] When the left handle starts to move left or right in the middle position, the slewing motor starts to accelerate. Because the vehicle controller 1 does not receive any other action signals from the left and right handles, the actuator pilot valves 14 and 17 do not work, and the bypass pilot valve 13 does not work either. At this time, the actuator valve 16 is blocked and the bypass valve 12 is opened, allowing the main pump oil circuit to flow to the oil tank through the bypass valve 12.

[0079] When the left handle starts to return to the center position on the left or right, the swing motor 4 starts to decelerate and brake, the actuator valve 16 is closed, the bypass valve 12 is also closed, and the main pump oil circuit flows to the oil tank through the overflow valve 11. Specific control process: When the vehicle controller 1 receives the signal that the left handle returns to the center position, it immediately feeds back the deceleration command to the swing motor driver 5, and the swing motor driver 5 gives a reverse braking torque. The swing motor immediately decelerates under the action of the reverse torque; at the same time, the vehicle controller 1 controls the bypass pilot valve 13 to be energized to close the bypass valve 12, and at the same time adjusts the current of the pump pilot valve 10. By adjusting the current of the pump pilot valve, the displacement V of the main pump is controlled, so that the main pump absorbs power (i.e., energy recovery power). ≥ Braking power P; where , ; is the torque, PB is the outlet pressure of the system main pump, the PB value can be detected by the pressure sensor S1, the maximum value of PB is determined by the relief valve 11 (such as 30MPa), the current speed n of the pump is known, and the displacement V is determined by the main pump motor speed and the current of the pump pilot valve 10.

[0080] Case 2: The vehicle controller 1 detects that the left and right electric control handles 2 and 3 have 2 or more direction action signals.

[0081] When it is detected that the left and right electric control handles 2 and 3 have two or more direction action signals at the same time, it indicates that there is a compound action, which includes a rotation action.

[0082] When the handle is operated in combination and the rotary motor starts to accelerate, the bypass valve 12 is closed, and the main pump oil circuit returns to the oil tank through the pressure reversing valve 15, the actuator valve 16, and the actuator 18.

[0083] When the handle is compounded and the rotary motor is decelerated and braked, the bypass valve 12 is closed, and the main pump oil circuit returns to the oil tank through the pressure reversing valve 15, the actuator valve 16, and the actuator 18; if the controller detects that the feedback value of the main pump outlet pressure sensor S1 is lower than a certain value, it can be determined through calculation that the braking power is greater than the main pump motor absorption power. At this time, it is necessary to start the pressure reversing valve 15 and adjust the pressure and the displacement of the main pump 9 to increase the consumption of the main pump motor 8. Specific control process: When the vehicle controller 1 receives the handle compound action signal (including rotation) and at the same time receives the reverse braking torque of the rotary motor driver 5, the vehicle controller 1 controls the bypass pilot valve 13 to be energized to close the bypass valve 12, and controls the corresponding actuator pilot valve 14 or 17 to be energized according to the handle signal. Because the pressure sensor feedback value and the main pump pilot valve current are negatively related, the pressure reversing valve 15 and the pump pilot valve current are adjusted according to the pressure sensor feedback value to make the main pump absorb power. ≥ Braking power P. Where , ; The PB value is detected by the pressure sensor S1, the maximum value of PB is determined by the pressure reversing valve 15 (such as 20MPa), and the displacement V is determined by the main pump motor speed and the pump pilot valve 10 current.

[0084] In this embodiment, an overflow valve and a pressure regulating valve are added to the hydraulic main circuit, the control circuit is simple and active absorption of rotary braking energy is achieved, and a series of problems such as the risk of over-voltage of power battery cells and degradation of battery performance are effectively solved without increasing system complexity and economic benefits.

[0085] See also Figure 4 , Figure 4The present invention provides a structural schematic diagram of a rotary brake energy recovery system for an excavator provided in an embodiment of the present invention. The rotary motor of the excavator is connected to the main pump motor driver through the rotary motor driver, the main pump motor driver is connected to the main pump motor, the main pump motor is connected to the main pump, and the rotary brake energy recovery system of the excavator includes:

[0086] A power determination module 401 is used to determine the remaining power of the power battery of the excavator;

[0087] A first recovery module 402 is used to charge the power battery using the braking energy generated by the rotary motor if the remaining power is less than a preset value;

[0088] The second recovery module 403 is used to input the braking energy generated by the rotary motor into the main pump through the rotary motor driver and the main pump motor driver if the remaining power is greater than or equal to the preset value, so that the main pump uses the recovered energy to transport the hydraulic oil to the actuator or oil tank of the excavator.

[0089] This embodiment connects the excavator's slewing motor to the main pump motor driver, utilizes the energy generated by the slewing motor during the braking process, and determines the method of recovering the slewing braking energy according to the remaining power of the power battery. When the remaining power of the power battery is less than a preset value, the braking energy generated by the slewing motor is used to charge the power battery; when the remaining power of the power battery is greater than or equal to the preset value, the braking energy is input into the main pump through the slewing motor driver and the main pump motor driver, so that the main pump can use the braking energy to deliver hydraulic oil to the actuator or the oil tank. The above method avoids overcharging of the power battery and makes full use of the slewing braking energy. Therefore, this embodiment can effectively recover the slewing braking energy and improve the safety of the power battery.

[0090] Further, the main pump is connected to a bypass valve and an actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator;

[0091] Correspondingly, it also includes:

[0092] The first control module is used to determine whether a rotation action signal is received if the remaining power is greater than or equal to the preset value; if so, control the actuator valve to close and control the bypass valve to open so that the oil circuit between the main pump and the oil tank is conductive.

[0093] Furthermore, a relief valve is provided in the pipeline between the main pump and the bypass valve;

[0094] Accordingly, it also includes:

[0095] The second control module is used to control the actuator valve and the bypass valve to close after receiving the brake signal, so that the main pump uses the recovered energy to transport the hydraulic oil to the oil tank through the overflow valve.

[0096] Further, the main pump is connected to a pump pilot valve;

[0097] Accordingly, it also includes:

[0098] The displacement regulating module is used to adjust the displacement of the main pump by using the pump pilot valve after receiving the braking signal so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor.

[0099] Furthermore, a pressure sensor is provided in the output pipeline of the main pump;

[0100] Correspondingly, the process of the displacement regulating module adjusting the displacement of the main pump using the pump pilot valve includes: calculating the current energy recovery power of the main pump according to the pressure value collected by the pressure sensor; adjusting the current of the pump pilot valve according to the current energy recovery power and the braking power of the rotary motor so as to adjust the displacement of the main pump.

[0101] Further, the main pump is connected to a bypass valve and an actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator;

[0102] Accordingly, it also includes:

[0103] The third control module is used to determine whether a composite action signal is received if the remaining power is greater than or equal to the preset value; wherein the composite action signal includes a rotary action signal and other action signals; if so, the bypass valve is controlled to be closed, and the actuator valve is controlled to be opened to make the oil circuit between the main pump and the actuator conductive.

[0104] Furthermore, it also includes:

[0105] The fourth control module is used to control the bypass valve to close and the actuator valve to open after receiving the brake signal, so that the main pump uses the recovered energy to transport the hydraulic oil to the actuator through the overflow valve.

[0106] Further, the main pump is connected to a pump pilot valve, and a pressure sequence valve is provided in the pipeline between the main pump and the actuator;

[0107] Accordingly, it also includes:

[0108] The power control module is used to adjust the pump pilot valve and the pressure sequence valve according to the outlet pressure value of the main pump after receiving the braking signal, so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor.

[0109] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0110] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0111] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0112] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0113] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for recovering rotary braking energy of an excavator, characterized in that: The rotary motor of the excavator is connected to the main pump motor driver through the rotary motor driver, the main pump motor driver is connected to the main pump motor, the main pump motor is connected to the main pump, and the rotary brake energy recovery method of the excavator includes: Determining the remaining power of the power battery of the excavator; If the remaining power is less than a preset value, the power battery is charged using the braking energy generated by the rotary motor; If the remaining power is greater than or equal to the preset value, the braking energy generated by the slewing motor is input into the main pump through the slewing motor driver and the main pump motor driver, so that the main pump uses the recovered energy to transport hydraulic oil to the actuator or oil tank of the excavator.

2. The method for recovering rotary braking energy of an excavator according to claim 1, characterized in that: The main pump is connected to a bypass valve and an actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator; Correspondingly, if the remaining power is greater than or equal to the preset value, the method further includes: Determine whether a rotation action signal is received; If so, the actuator valve is controlled to be closed, and the bypass valve is controlled to be opened, so that the oil circuit between the main pump and the oil tank is connected.

3. The method for recovering rotary braking energy of an excavator according to claim 2, characterized in that: The pipeline between the main pump and the bypass valve is provided with a relief valve; Correspondingly, after receiving the braking signal, the method further includes: The actuator valve and the bypass valve are controlled to be closed, so that the main pump uses the recovered energy to deliver the hydraulic oil to the oil tank through the relief valve.

4. The method for recovering rotary braking energy of an excavator according to claim 3, characterized in that: The main pump is connected to a pump pilot valve; Correspondingly, after receiving the braking signal, the method further includes: The pump pilot valve is used to adjust the displacement of the main pump so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor.

5. The method for recovering rotary braking energy of an excavator according to claim 4, characterized in that: A pressure sensor is provided in the output pipeline of the main pump; Accordingly, adjusting the displacement of the main pump by using the pump pilot valve includes: Calculating the current energy recovery power of the main pump according to the pressure value collected by the pressure sensor; The current of the pump pilot valve is adjusted according to the current energy recovery power and the braking power of the rotary motor so as to adjust the displacement of the main pump.

6. The method for recovering rotary braking energy of an excavator according to claim 1, characterized in that: The main pump is connected to a bypass valve and an actuator valve respectively, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator; Correspondingly, if the remaining power is greater than or equal to the preset value, the method further includes: Determining whether a composite action signal is received; wherein the composite action signal includes a rotation action signal and other action signals; If so, the bypass valve is controlled to be closed, and the actuator valve is controlled to be opened, so that the oil circuit between the main pump and the actuator is conducted.

7. The method for recovering rotary braking energy of an excavator according to claim 6, characterized in that: After receiving the brake signal, it also includes: The bypass valve is controlled to be closed, and the actuator valve is controlled to be opened, so that the main pump uses the recovered energy to deliver the hydraulic oil to the actuator through the overflow valve.

8. The method for recovering rotary braking energy of an excavator according to claim 7, characterized in that: The main pump is connected to a pump pilot valve, and a pressure sequence valve is provided in the pipeline between the main pump and the actuator; Correspondingly, after receiving the braking signal, the method further includes: The pump pilot valve and the pressure sequence valve are adjusted according to the outlet pressure value of the main pump so that the energy recovery power of the main pump is greater than or equal to the braking power of the rotary motor.

9. A rotary brake energy recovery system for an excavator, characterized in that: The rotary motor of the excavator is connected to the main pump motor driver through the rotary motor driver, the main pump motor driver is connected to the main pump motor, the main pump motor is connected to the main pump, and the rotary brake energy recovery system of the excavator includes: A power determination module, used to determine the remaining power of the power battery of the excavator; A first recovery module, configured to charge the power battery using the braking energy generated by the rotary motor if the remaining power is less than a preset value; The second recovery module is used to input the braking energy generated by the rotary motor into the main pump through the rotary motor driver and the main pump motor driver if the remaining power is greater than or equal to the preset value, so that the main pump uses the recovered energy to transport the hydraulic oil to the actuator or oil tank of the excavator.

10. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the swing braking energy recovery method of the excavator as claimed in any one of claims 1 to 8 are implemented.

11. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the swing braking energy recovery method of the excavator as described in any one of claims 1 to 8 are implemented.

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