A method, system, device and medium for swing brake energy recovery of an excavator

Abstract

The application discloses a method, system, device and medium for rotary braking energy recovery of an excavator, and belongs to the technical field of engineering machinery. The method for rotary braking energy recovery of the excavator comprises the following steps: determining the residual capacity of a power battery of the excavator; if the residual capacity is less than a preset value, charging the power battery by using braking energy generated by a rotary motor; and if the residual capacity is greater than or equal to the preset value, inputting the braking energy generated by the rotary motor into a main pump through a rotary motor driver and a main pump motor driver, so that the main pump delivers hydraulic oil to an actuator or an oil tank of the excavator by using the recovered energy. The application can effectively recover rotary braking energy and improve the safety of the power battery.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a method, system, equipment and medium for recovering the slewing braking energy of an excavator. Background Technology

[0002] With the rise of new energy sources, the electrification of construction machinery has entered a stage of rapid development. A wide variety of electric products have emerged on the market, with increasingly diverse configurations, among which electric swing function is one such configuration. Excavators have the working characteristic of frequent braking in short periods, and the energy generated in this process can be directly used to pulse-charge the power battery. This energy recovery and utilization achieved in this way can extend the machine's operating time.

[0003] When the power battery is at a high SOC (State of Charge, i.e., remaining charge), the excess braking energy can cause the power battery to experience issues such as overvoltage alarms, battery safety risks, and reduced battery performance and lifespan.

[0004] Therefore, how to effectively recover the braking energy during slewing and improve the safety of power batteries is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

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

[0006] To address the aforementioned technical problems, this application provides a method for recovering swing braking energy in an excavator. The excavator's swing motor is connected to a main pump motor driver via a swing 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. The method for recovering swing braking energy in an excavator includes:

[0007] Determine the remaining power of the excavator's power battery;

[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 rotary motor is input to the main pump through the rotary motor driver and the main pump motor driver, so that the main pump uses the recovered energy to deliver 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, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator.

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

[0012] Determine whether a rotation motion signal has been received;

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

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

[0015] Accordingly, after receiving the braking signal, the following is also included:

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

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

[0018] Accordingly, after receiving the braking signal, the following is also included:

[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 installed in the output pipeline of the main pump;

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

[0022] The current energy recovery power of the main pump is calculated based on 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 in order to adjust the displacement of the main pump.

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

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

[0026] Determine whether a composite action signal has been received; wherein the composite action signal includes a rotation action signal and other action signals;

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

[0028] Optionally, after receiving the braking signal, the following may also be included:

[0029] The bypass valve is closed and the actuator valve is opened so that the main pump uses the recovered energy to deliver 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] Accordingly, after receiving the braking signal, the following is also included:

[0032] Adjust the pump pilot valve and the pressure sequence valve 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] This application also provides a swing braking energy recovery system for an excavator, wherein the excavator's swing motor is connected to a main pump motor driver via a swing 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. The excavator's swing braking energy recovery system includes:

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

[0035] The first recovery module 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.

[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 can use the recovered energy to deliver hydraulic oil to the actuator or oil tank of the excavator.

[0037] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described excavator slewing brake energy recovery method.

[0038] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described excavator slewing braking energy recovery method.

[0039] This application provides a method for recovering swing braking energy in an excavator. This method connects the excavator's swing motor to the main pump motor driver, utilizing the energy generated by the swing motor during braking. The recovery method is determined based on the remaining charge of the power battery. When the remaining charge of the power battery is less than a preset value, the braking energy generated by the swing motor charges the power battery. When the remaining charge of the power battery is greater than or equal to the preset value, the braking energy is input to the main pump through the swing motor driver and the main pump motor driver, enabling the main pump to use the braking energy to deliver hydraulic oil to the actuator or oil tank. This method avoids overcharging of the power battery and fully utilizes the swing braking energy. Therefore, this application can effectively recover swing braking energy and improve the safety of the power battery. This application also provides a swing braking energy recovery system for excavators, a storage medium, and an electronic device, all with the above-mentioned beneficial effects, which will not be elaborated further here. Attached Figure Description

[0040] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a method for recovering swing braking energy of an excavator, provided as an embodiment of this application;

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

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

[0044] Figure 4 This is a schematic diagram of the structure of a slewing braking energy recovery system for an excavator provided in an embodiment of this application. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] Please see below. Figure 1 , Figure 1 This is a flowchart of a method for recovering slewing braking energy of an excavator, provided as an embodiment of this application.

[0047] Specific steps may include:

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

[0049] This embodiment can be applied to the vehicle controller of an excavator. The excavator may also include a slewing motor, a slewing motor driver, a main pump motor driver, a main pump motor, a main pump, a power battery, actuators, and other devices. The slewing motor is connected to the main pump motor driver via the slewing 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 excavator mentioned above can also be equipped with a battery management system (BMS). The vehicle controller can interact with the battery management system to determine the proportion of the current remaining power of the power battery to the total capacity, i.e., 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] In this embodiment, a threshold value (e.g., 97%) for recharging the power battery using braking energy can be preset. The current remaining charge of the power battery is compared with the preset value. If the remaining charge is less than the preset value, the power battery is charged using the braking energy generated by the rotary motor. Specifically, the rotary motor can charge the power battery through a 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 to the main pump through the rotary motor driver and the main pump motor driver, so that the main pump uses the recovered energy to deliver hydraulic oil to the actuator or oil tank of the excavator.

[0054] This step is based on the premise that the remaining charge of the power battery is greater than or equal to a preset value. At this point, when the rotary motor generates braking energy, the braking energy generated by the rotary motor can be input to the main pump through the rotary motor driver and the main pump motor driver. Furthermore, this embodiment can also add a resistor to dissipate the electro-rotation braking energy, or add an energy recovery auxiliary device for switching release.

[0055] The main pump can utilize recovered braking energy to draw hydraulic oil from the tank and deliver it to various actuators of the excavator (such as the boom and bucket) or return it to the tank as needed. This process not only avoids the risk of battery overcharging but also improves the energy efficiency of the entire system.

[0056] This embodiment connects the excavator's swing motor to the main pump motor driver. Utilizing the energy generated by the swing motor during braking, the energy recovery method is determined based on the remaining charge of the power battery. When the remaining charge of the power battery is less than a preset value, the braking energy generated by the swing motor charges the power battery. When the remaining charge of the power battery is greater than or equal to the preset value, the braking energy is input to the main pump through the swing motor driver and the main pump motor driver, enabling the main pump to use the braking energy to deliver hydraulic oil to the actuator or oil tank. This method avoids overcharging of the power battery and fully utilizes the swing braking energy. Therefore, this embodiment can effectively recover swing braking energy and improve the safety of the power battery.

[0057] As for Figure 1 In a further description of the corresponding embodiment, the main pump is connected to both a bypass valve and an actuator valve. 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 has been received; if so, it controls the actuator valve to close and the bypass valve to open, thereby connecting the oil circuit between the main pump and the oil tank.

[0058] The aforementioned slewing action signal can be a signal input from the excavator's handle. For example, when the handle is moved from the center position to the left, a left slewing action signal is input; when the handle is moved from the center position to the right, a right slewing action signal is input.

[0059] Specifically, in this embodiment, the actuator valve is closed and the bypass valve is opened only when a rotation signal is received. Closing the actuator valve avoids additional load on the hydraulic system from other actions during rotation, ensuring smoother and more precise rotation. Opening the bypass valve allows excess hydraulic oil to return directly to the tank, quickly releasing excess pressure generated by the main pump.

[0060] As for Figure 1 In a 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 starts working, the rotation can be stopped by issuing a braking signal. Accordingly, after receiving the braking signal, this embodiment can also control the actuator valve and the bypass valve to close, so that the main pump can use the recovered energy to deliver hydraulic oil to the oil tank through the relief valve.

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

[0062] As for Figure 1 In a further description of the corresponding embodiment, the main pump is connected to a pump pilot valve, which controls the displacement of the main pump. Upon receiving a braking signal, this embodiment can utilize the pump pilot valve 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 installed in the output pipeline of the main pump, specifically between the actuator valve and the main pump. Accordingly, in this embodiment, the displacement of the main pump can be adjusted as follows: the current energy recovery power of the main pump is calculated based on the pressure value collected by the pressure sensor; the current of the pump pilot valve is adjusted based on the current energy recovery power and the braking power of the rotary motor, thereby adjusting 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. Based on this relationship and the pressure value collected by the pressure sensor, the current energy recovery power of the main pump is calculated. The energy recovery power is the power provided by the braking energy recovered by the main pump.

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

[0066] Accordingly, if the remaining power is greater than or equal to the preset value, this step can determine whether a composite action signal has been received; wherein, the composite action signal includes a rotation action signal and other action signals; if so, the bypass valve is controlled to close and the actuator valve is controlled to open, so that the oil circuit between the main pump and the actuator is connected.

[0067] Furthermore, upon receiving a braking signal, the bypass valve can be closed and the actuator valve can be opened, so that the main pump can use the recovered energy to deliver hydraulic oil to the actuator through the relief valve.

[0068] Furthermore, the main pump is connected to a pump pilot valve, and a pressure sequence valve is installed in the pipeline between the main pump and the actuator. Correspondingly, upon receiving a braking signal, the pump pilot valve and the pressure sequence valve can be adjusted according to the outlet pressure value of the main pump to ensure 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 operating 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 operates in a predetermined sequence.

[0069] The process described in the above embodiments is illustrated below through examples in practical applications.

[0070] Please see Figure 2 , Figure 2 This is a schematic diagram of the pulse charging current curve of a power battery provided in an embodiment of this application. The horizontal axis represents the remaining battery capacity, and the vertical axis represents the recharge current value. It can be seen that in operating mode, the battery capacity is... The allowed pulse (30S) recharge current changes from 230A to 0, and the process is linear. When the slewing braking current exceeds the battery's allowable pulse recharge current, the excess braking energy will cause a series of problems for the power battery, such as overvoltage alarms, battery safety risks, and reduced battery performance and lifespan. When the power battery is in a high SOC state, the energy recovered by the battery becomes smaller and smaller until finally the braking energy can no longer be recovered to the power battery. This part of the energy can only be consumed by adding a braking resistor or adding an energy storage circuit and equipment. These measures are costly, and it is also very difficult to install equipment in a limited space.

[0071] To address the technical problems existing in the aforementioned related technologies, this embodiment provides a power battery-driven slewing braking energy control scheme for electric excavators under high SOC conditions. This scheme can directly transfer braking energy to the main pump motor for consumption, saving both space and cost, while also enabling the overall machine performance to reach its optimal level.

[0072] Please see Figure 3 , Figure 3 This is a schematic diagram illustrating the braking energy recovery principle of an electric excavator provided in an embodiment of this application. The diagram shows a vehicle controller 1, a left control handle 2, a right control handle 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, an overflow 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 the motor, and the battery system includes a power battery.

[0073] During swing braking, the braking energy of the swing motor is used to pulse-charge the battery system via the swing motor driver, or to provide energy to the main pump via the main pump motor driver and the main pump motor. The main pump primarily provides power to the hydraulic circuits of all excavator movements (except swing). The swing braking power... T is the braking torque, 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 operation determines the current maximum target speed, and the current maximum braking power p can be calculated. The maximum braking time is 3 seconds. After 3 seconds, the rotary motor speed is 0.

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

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

[0076] Scenario 1: The vehicle controller detects that there is only a single left or right turn signal on the left and right electric control levers.

[0077] The left and right movements of the excavator's left electric control lever are the slewing signal, while the center position of the lever is the stop position. The slewing signal is the operator's command to the system to activate the slewing mechanism via the control lever.

[0078] When the left handle starts to move to the left or right in the middle position, the rotary motor starts to accelerate. Since 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 also does not work. At this time, the actuator valve 16 is blocked and the bypass valve 12 is open, so that the main pump oil circuit goes to the oil tank through the bypass valve 12.

[0079] When the left handle begins to return to the center position from the left or right, the rotary motor 4 begins to decelerate and brake. Actuator valve 16 closes, and bypass valve 12 also closes. The main pump oil circuit flows to the oil tank via relief valve 11. Specific control process: When the vehicle controller 1 receives the signal for the left handle to return to the center position, it immediately sends a deceleration command to the rotary motor driver 5. The rotary motor driver 5 then provides a reverse braking torque, causing the rotary motor to decelerate immediately under the action of the reverse torque. Simultaneously, the vehicle controller 1 energizes the bypass pilot valve 13 to close the bypass valve 12, and simultaneously adjusts the current of the pump pilot valve 10. By adjusting the current of the pump pilot valve, the main pump displacement V is controlled, allowing the main pump to absorb power (i.e., recover energy). ≥ Braking power P; where , ; For torque, PB is the outlet pressure of the main pump in the system. The value of PB can be detected by pressure sensor S1. The maximum value of PB is determined by relief valve 11 (e.g., 30MPa). The current speed n of the pump is known. Then the displacement V is determined by the speed of the main pump motor and the current of the pump pilot valve 10.

[0080] Scenario 2: The vehicle controller 1 detects that the left and right electric control handles 2 and 3 together have two or more directional movement signals.

[0081] When two or more directional movement signals are detected on the left and right electric control handles 2 and 3 together, it indicates that there is a compound movement, which includes rotation.

[0082] When the handle is activated and the rotary motor starts to accelerate, the bypass valve 12 closes, and the main pump oil returns to the oil tank through the pressure directional valve 15, actuator valve 16, and actuator 18.

[0083] When the handle performs a combined action and the rotary motor decelerates and brakes, the bypass valve 12 closes. At this time, the main pump oil returns to the oil tank via the pressure directional valve 15, actuator valve 16, and 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 calculated that the braking power is greater than the power absorbed by the main pump motor. In this case, the pressure directional valve 15 needs to be activated, and the pressure and the displacement of the main pump 9 need to be adjusted to increase the power consumption of the main pump motor 8. Specific control process: When the vehicle controller 1 receives the combined action signal of the handle (including rotation) and simultaneously receives the braking reverse torque of the rotary motor driver 5, the vehicle controller 1 energizes the bypass pilot valve 13 to close the bypass valve 12, and energizes the corresponding actuator pilot valve 14 or 17 according to the handle signal. Because the pressure sensor feedback value and the main pump pilot valve current have a negative relationship, the pressure directional valve 15 and the pump pilot valve current are adjusted according to the detected pressure sensor feedback value to increase the power absorbed by the main pump. ≥ Braking power P. Wherein , The PB value is detected by the pressure sensor S1. The maximum value of PB is determined by the pressure reversing valve 15 (e.g., 20MPa). The displacement V is determined by the main pump motor speed and the current of the pump pilot valve 10.

[0084] This embodiment adds an overflow valve and a pressure regulating valve to the hydraulic main circuit, simplifying the control circuit and enabling active absorption of rotational braking energy. Without increasing system complexity or economic benefits, it effectively solves a series of problems such as the risk of excessively high battery cell voltage and battery performance degradation.

[0085] Please see Figure 4 , Figure 4This is a schematic diagram of a swing braking energy recovery system for an excavator provided in an embodiment of this application. The excavator's swing motor is connected to a main pump motor driver via a swing 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. The excavator's swing braking energy recovery system includes:

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

[0087] The 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 can use the recovered energy to deliver hydraulic oil to the actuator or oil tank of the excavator.

[0089] This embodiment connects the excavator's swing motor to the main pump motor driver. Utilizing the energy generated by the swing motor during braking, the energy recovery method is determined based on the remaining charge of the power battery. When the remaining charge of the power battery is less than a preset value, the braking energy generated by the swing motor charges the power battery. When the remaining charge of the power battery is greater than or equal to the preset value, the braking energy is input to the main pump through the swing motor driver and the main pump motor driver, enabling the main pump to use the braking energy to deliver hydraulic oil to the actuator or oil tank. This method avoids overcharging of the power battery and fully utilizes the swing braking energy. Therefore, this embodiment can effectively recover swing braking energy and improve the safety of the power battery.

[0090] Furthermore, the main pump is connected to a bypass valve and an actuator valve, 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 slewing action signal has been received if the remaining power is greater than or equal to the preset value; if so, it controls the actuator valve to close and controls the bypass valve to open so that the oil circuit between the main pump and the oil tank is connected.

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

[0094] Correspondingly, it also includes:

[0095] The second control module is used to control the actuator valve and the bypass valve to close after receiving the braking signal, so that the main pump can use the recovered energy to deliver hydraulic oil to the oil tank through the relief valve.

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

[0097] Correspondingly, it also includes:

[0098] The displacement adjustment module is used to adjust the displacement of the main pump using the pump pilot valve after receiving a 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 installed in the output pipeline of the main pump;

[0100] Accordingly, the process by which the displacement adjustment module adjusts the displacement of the main pump using the pump pilot valve includes: calculating the current energy recovery power of the main pump based on the pressure value collected by the pressure sensor; and adjusting the current of the pump pilot valve based on the current energy recovery power and the braking power of the rotary motor in order to adjust the displacement of the main pump.

[0101] Furthermore, the main pump is connected to a bypass valve and an actuator valve, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator.

[0102] Correspondingly, it also includes:

[0103] The third control module is used to determine whether a composite action signal has been received if the remaining power is greater than or equal to the preset value; wherein the composite action signal includes a rotation action signal and other action signals; if so, it controls the bypass valve to close and controls the actuator valve to open so that the oil circuit between the main pump and the actuator is connected.

[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 a braking signal, so that the main pump can use the recovered energy to deliver hydraulic oil to the actuator through the relief valve.

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

[0107] Correspondingly, 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, and they will not be repeated here.

[0110] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0111] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0113] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for recovering slewing braking energy in an excavator, characterized in that, The excavator's swing motor is connected to the main pump motor driver via a swing 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. The excavator's swing braking energy recovery method includes: Determine the remaining power of the excavator's power battery; 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 rotary motor is input to the main pump through the rotary motor driver and the main pump motor driver, so that the main pump uses the recovered energy to deliver hydraulic oil to the actuator or oil tank of the excavator. The main pump is connected to a bypass valve and an actuator valve, the bypass valve is connected to the oil tank, and the actuator valve is connected to the actuator. Accordingly, if the remaining battery power is greater than or equal to the preset value, the method further includes: Determine whether a composite action signal has been received; wherein the composite action signal includes a rotation action signal; If so, the bypass valve is closed and the actuator valve is opened to connect the oil circuit between the main pump and the actuator.

2. The method for recovering slewing braking energy of an excavator according to claim 1, characterized in that, If the remaining battery power is greater than or equal to the preset value, the method further includes: Determine whether a rotation motion signal has been received; If so, the actuator valve is closed and the bypass valve is opened to connect the oil circuit between the main pump and the oil tank.

3. The method for recovering slewing braking energy of an excavator according to claim 2, characterized in that, An overflow valve is installed in the pipeline between the main pump and the bypass valve; Accordingly, after receiving the braking signal, the following is also included: The actuator valve and the bypass valve are closed so that the main pump uses recovered energy to deliver hydraulic oil to the oil tank through the relief valve.

4. The method for recovering slewing braking energy of an excavator according to claim 3, characterized in that, The main pump is connected to the pump pilot valve; Accordingly, after receiving the braking signal, the following is also included: 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 slewing braking energy of an excavator according to claim 4, characterized in that, A pressure sensor is installed in the output pipeline of the main pump; Accordingly, adjusting the displacement of the main pump using the pump pilot valve includes: The current energy recovery power of the main pump is calculated based on 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 in order to adjust the displacement of the main pump.

6. The method for recovering slewing braking energy of an excavator according to claim 1, characterized in that, After receiving the braking signal, it also includes: The bypass valve is controlled to close, and the actuator valve is controlled to open, so that the main pump uses the recovered energy to deliver hydraulic oil to the actuator through the relief valve.

7. The method for recovering slewing braking energy of an excavator according to claim 6, characterized in that, The main pump is connected to the pump pilot valve, and a pressure sequence valve is installed in the pipeline between the main pump and the actuator; Accordingly, after receiving the braking signal, the following is also included: Adjust the pump pilot valve and the pressure sequence valve 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.

8. A slewing braking energy recovery system for an excavator, characterized in that, The excavator's swing braking energy recovery system is used to implement the excavator's swing braking energy recovery method as described in any one of claims 1 to 7. The excavator's swing motor is connected to the main pump motor driver via a swing motor driver. The main pump motor driver is connected to the main pump motor. The main pump motor is connected to the main pump. The main pump is connected to a bypass valve and an actuator valve. The bypass valve is connected to the oil tank. The actuator valve is connected to the actuator. The excavator's swing braking energy recovery system includes: A power determination module is used to determine the remaining power of the excavator's power battery; The first recovery module 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. 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 can use the recovered energy to deliver hydraulic oil to the actuator or oil tank of the excavator.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the slewing braking energy recovery method for an excavator as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the excavator's slewing braking energy recovery method as described in any one of claims 1 to 7.

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