Modularized hydraulic energy recovery device and recovery method thereof

Abstract

The invention discloses a modular hydraulic energy recovery device and a recovery method thereof, and relates to the technical field of hydraulic energy recovery. A high-pressure pipeline of a hydraulic system is connected with the three functional modules in parallel through a multi-way pipe fitting, and a modular energy recovery system is formed. The high-pressure module adopts the combination of a leather bag type energy accumulator and a throttle valve, energy absorption is carried out aiming at the working conditions of high system pressure and slow change, and the pressure is stably released by utilizing the elastic energy storage characteristic of the energy accumulator; the high-frequency module is provided with a diaphragm type energy accumulator which is high in response speed, and instantaneous pressure fluctuation is rapidly restrained by dynamically adjusting the opening degree of a throttling valve; the power generation module drives a power generator through a hydraulic motor, and transforms the over-limit energy stored by the energy accumulator into electric energy for storage. The main control module monitors the system pressure and the change rate thereof in real time, dynamically switches the working states of the modules according to preset logic, and introduces a machine learning algorithm to optimize a threshold decision, so that the system adapts to complex working conditions.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic energy recovery technology, and in particular to a modular hydraulic energy recovery device and a recovery method thereof, which are suitable for recovering kinetic energy and potential energy during braking or load lowering in engineering machinery, rail transit, and industrial hydraulic systems. Background Art

[0002] Hydraulic systems are widely used in the industrial field, but when the actuator needs to brake or the load drops, mechanical energy is usually converted into heat energy in the form of hydraulic energy through the throttle valve, and the energy waste rate can reach 30%-50%. The existing technology uses accumulators to recover energy, but there are the following defects: 1. Poor adaptability of a single mode: Traditional accumulators are only suitable for steady-state high pressure or low-frequency pulsation, and cannot take into account high-pressure energy storage and high-frequency impact scenarios at the same time, resulting in a decrease in recovery efficiency under dynamic conditions. 2. Energy conversion bottleneck: When direct power generation recovery is adopted, the hydraulic motor has a slow response speed, cannot match the instantaneous pressure fluctuations, and has overflow losses. 3. Insufficient module linkage: Most existing devices are three-way and single accumulator designs with fixed structures. It is impossible to dynamically switch the energy recovery mode according to the working conditions, and the module needs to be shut down for maintenance when it is damaged. Therefore, in response to the above phenomenon, a modular hydraulic energy recovery device and its recovery method are proposed to meet the needs of actual use. Summary of the invention

[0003] The present invention provides a modular hydraulic energy recovery device and a recovery method thereof, which realizes multi-mode dynamic switching of high voltage, high frequency and electric energy conversion through modular design and intelligent control strategy, has strong adaptability and wide application range.

[0004] In order to solve the above technical problems, the present invention provides a modular hydraulic energy recovery device and a recovery method thereof, comprising a hydraulic source, an actuator, a multi-way pipe fitting, a high-pressure module, a high-frequency module, a power generation module and a main control module; the outlet of the hydraulic source is connected to the actuator through a high-pressure pipeline, the inlet end of the multi-way pipe fitting is connected to the high-pressure pipeline in parallel, and the outlet end of the multi-way pipe fitting is respectively connected to the high-pressure module, the high-frequency module and the power generation module; the main control module dynamically switches the working modes of the high-pressure module, the high-frequency module and the power generation module according to the real-time pressure signal and the pressure change rate.

[0005] In some embodiments, the high-pressure module includes a bladder accumulator, a first throttle valve, a first solenoid valve and a first quick interface; the first quick interface is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil port of the bladder accumulator is connected in series with the first throttle valve and the first solenoid valve in sequence, and then connected to the first quick interface.

[0006] In some embodiments, the high-frequency module includes a diaphragm accumulator, a second throttle valve, a second solenoid valve, and a second quick connector; the second quick connector is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil ports of the diaphragm accumulator are connected in series with the second throttle valve and the second solenoid valve in sequence, and then connected to the second quick connector.

[0007] In some embodiments, the power generation module includes a hydraulic motor, a generator, an energy storage battery, a relief valve, a third solenoid valve, and a third quick connector; the third quick connector is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the inlet oil port of the hydraulic motor is connected to the third quick connector in series with the third solenoid valve, and the relief valve is connected in parallel between the inlet of the hydraulic motor and the fuel tank; the outlet oil port of the hydraulic motor is connected to the fuel tank through a low-pressure filter, and the hydraulic motor drives the generator through a coupling to convert hydraulic energy into electrical energy, and the output end of the generator is connected to the energy storage battery.

[0008] In some embodiments, self-sealing valves are provided at the outlet ends of the multi-way pipe fittings to automatically seal the oil circuit when the first quick connector, the second quick connector, or the third quick connector is disassembled.

[0009] In some embodiments, the main control module includes a pressure signal acquisition component, a microcontroller, and a drive circuit; the pressure signal acquisition component includes an oil pressure sensor and an accumulator pressure sensor; the oil pressure sensor is arranged at the inlet end of the multi-way pipe fitting for acquiring the real-time pressure signal of the high-pressure pipeline; the accumulator pressure sensor is arranged at the oil port of the bladder accumulator for acquiring the real-time pressure signal of the bladder accumulator; the microcontroller calculates the pressure change rate and compares it with a preset threshold value, and outputs a module switching instruction; the drive circuit drives the electromagnets of the first solenoid valve, the second solenoid valve, and the third solenoid valve according to the module switching instruction.

[0010] In some embodiments, the high-pressure module further includes a cooling unit, and the cooling unit includes a heat sink, a cooling fan, and a temperature sensor; the heat sink is fixed on the outer wall of the bladder accumulator, the cooling fan is fixed on the side of the heat sink, and the cooling fan is connected to the main control module through a drive circuit; the temperature sensor is fixed on the bladder accumulator to monitor the working temperature of the bladder accumulator.

[0011] In some embodiments, the main control module further includes a wireless communication module and a remote monitoring platform, and the microcontroller uploads the module working status, pressure data, temperature data, and flow data to the remote monitoring platform through the wireless communication module, and receives external control instructions to adjust the preset threshold value.

[0012] A recovery method for a modular hydraulic energy recovery device provided by the present invention specifically includes the following steps:

[0013] Step S1. Real-time pressure signal acquisition: The real-time pressure value P of the high-pressure pipeline of the hydraulic system is collected through a hydraulic pressure sensor; the real-time pressure value P of the oil chamber of the bladder accumulator is collected through an accumulator pressure sensor. 储 ;

[0014] Step S2. Calculation of pressure change rate: The microcontroller of the main control module calculates the pressure change rate according to the formula d P / d t =(P t -P t-1 ) / Δt, and performs Kalman filtering denoising on the signal.

[0015] Step S3. Threshold comparison and module switching decision:

[0016] If P≧15MPa and d P / d t <5MPa / s, the first solenoid valve of the high-pressure module is opened, and the second solenoid valve of the high-frequency module is closed;

[0017] If P<15MPa and d P / d t >10MPa / s, the second solenoid valve of the high-frequency module is opened, and the first solenoid valve of the high-pressure module is closed;

[0018] If P 储 ≧20MPa, the third solenoid valve of the power generation module is opened, and the first solenoid valve of the high-pressure module is closed;

[0019] If P>15MPa and d P / d t ≧10MPa / s, the first solenoid valve and the second solenoid valve are opened simultaneously;

[0020] Step S4. Feedback optimization and fault handling:

[0021] The main control module records historical operating condition data and optimizes the pressure threshold through machine learning algorithms; when a module leak is detected, the faulty module is forcibly closed and an alarm signal is triggered.

[0022] In some embodiments, the following steps are further included:

[0023] The oil temperature T of the bladder accumulator is obtained in real time through a temperature sensor high ;

[0024] If T high >55℃, the main control module controls the cooling fan to turn on;

[0025] If T high >80℃, the energy storage pressure upper limit of the high-pressure module is reduced to 80% of the rated value, and a high-temperature alarm is triggered;

[0026] If T high <50 °C, turn off the cooling fan to save energy.

[0027] Compared with the related technologies, a modular hydraulic energy recovery device and its recovery method provided by the present invention have the following beneficial effects:

[0028] The present invention provides a modular hydraulic energy recovery device and its recovery method. The device is connected in parallel with the high-pressure pipeline of the hydraulic system and three functional modules through multi-way pipe fittings to form a modular energy recovery system. The high-pressure module adopts a combination of a bladder accumulator and a throttle valve to absorb energy for working conditions with high and slowly changing system pressures, and uses the elastic energy storage characteristics of the accumulator to release pressure smoothly; the high-frequency module is configured with a diaphragm accumulator with a fast response speed, and quickly suppresses instantaneous pressure fluctuations by dynamically adjusting the throttle valve opening; the power generation module drives a generator through a hydraulic motor to convert the excess energy stored in the accumulator into electrical energy for storage. The main control module monitors the system pressure and its change rate in real time, dynamically switches the working state of the module according to the preset logic, and at the same time introduces a machine learning algorithm to optimize the threshold decision, so that the system adapts to complex working conditions.

[0029] The present invention provides a modular hydraulic energy recovery device and its recovery method. Through modular division of labor and collaborative control, the device significantly improves the energy utilization efficiency of the hydraulic system. The high-pressure module effectively recovers the steady-state high-pressure energy and reduces the heat energy loss caused by traditional pressure relief; the high-frequency module suppresses pressure surges and reduces pipeline vibration and equipment wear; the power generation module realizes secondary energy conversion and expands the energy recycling scenario. The modules work independently and support hot-swappable replacement. When maintaining, the self-sealing valve automatically seals the oil circuit to avoid efficiency loss caused by shutdown and pressure relief. In addition, the intelligent temperature control and remote monitoring functions further enhance the system reliability, the heat dissipation design extends the life of key components, and the cloud data interaction provides real-time support for operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 is a schematic diagram of the structure of the temperature reduction unit of the present invention.

[0032] Reference numerals in the figure: 1, hydraulic source; 2, actuator; 7, cooling unit; 31, bladder accumulator; 32, first throttle valve; 33, first solenoid valve; 34, first quick connector; 41, diaphragm accumulator; 42, second throttle valve; 43, second solenoid valve; 44, second quick connector; 51, hydraulic motor; 52, generator; 53, energy storage battery; 54, overflow valve; 55, third solenoid valve; 56, third quick connector; 57, low-pressure filter; 58, fuel tank; 61, oil pressure sensor; 62, accumulator pressure sensor; 71, heat sink; 72, cooling fan; 73, temperature sensor. Detailed implementation manners

[0033] Example 1

[0034] As Figure 1 shown, this example provides a modular hydraulic energy recovery device, which is characterized in that it includes a hydraulic source, an actuator 1, a multi-way pipe fitting, a high-pressure module, a high-frequency module, a power generation module, and a main control module; the outlet of the hydraulic source 1 is connected to the actuator 2 through a high-pressure pipeline, the inlet end of the multi-way pipe fitting is connected in parallel to the high-pressure pipeline, and the outlet ends of the multi-way pipe fitting are respectively connected to the high-pressure module, the high-frequency module, and the power generation module; the main control module dynamically switches the working modes of the high-pressure module, the high-frequency module, and the power generation module according to the real-time pressure signal and the pressure change rate.

[0035] In this example, by connecting the multi-way pipe fitting in parallel to the high-pressure pipeline, multi-mode dynamic switching of high-pressure, high-frequency, and electric energy conversion is realized. Among them, the multi-way pipe fitting adopts a stainless steel four-way structure, and the inlet end is connected to the high-pressure pipeline through a flange, and the outlet ends are respectively connected to the high-pressure module, the high-frequency module, and the power generation module. The main control module collects the pressure signal in real time and passes it through the threshold decision switching module. Among them, in some examples, the multi-way pipe fitting can use structures such as five-way and six-way to connect different numbers of modules to increase the applicability.

[0036] The high-pressure module includes a bladder accumulator 31, a first throttle valve 32, a first solenoid valve 33, and a first quick connector 34; the first quick connector 34 is connected in parallel to the high-pressure pipeline through a multi-way pipe fitting; the oil port of the bladder accumulator 31 is connected to the first quick connector 34 in series after being connected in series with the first throttle valve 32 and the first solenoid valve 33 in sequence.

[0037] In this example, the high-pressure energy storage characteristic of the bladder accumulator 31 and the flow regulation of the throttle valve are used to adapt to the high-pressure slow-changing working condition. Among them, the pressure change rate is adjusted through the first throttle valve 32 to prevent pressure mutation.

[0038] The high-frequency module includes a diaphragm accumulator 41, a second throttle valve 42, a second solenoid valve 43, and a second quick coupling 44; the second quick coupling 44 is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil ports of the diaphragm accumulator 41 are connected in series with the second throttle valve 42 and the second solenoid valve 43 in sequence, and then connected to the second quick coupling 44.

[0039] In this embodiment, the diaphragm accumulator 41 is used for rapid response and the second throttle valve 42 is used for dynamic adjustment to suppress high-frequency pressure fluctuations. Among them, the flexible deformation of the diaphragm of the diaphragm accumulator 41 is used to adapt to the transient working condition with d P / d t > 10 MPa / s. Among them, the second throttle valve 42 is used to adjust the pressure change rate to prevent pressure mutation.

[0040] The power generation module includes a hydraulic motor 51, a generator 52, an energy storage battery 53, a relief valve 54, a third solenoid valve 55, and a third quick coupling 56; the third quick coupling 56 is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the inlet oil port of the hydraulic motor 51 is connected in series with the third solenoid valve 55 and then connected to the third quick coupling 56, and the relief valve 54 is connected in parallel between the inlet of the hydraulic motor 51 and the fuel tank 58; the outlet oil port of the hydraulic motor 51 is connected to the fuel tank 58 through a low-pressure filter 57, the hydraulic motor 51 drives the generator 52 through a coupling to convert hydraulic energy into electrical energy, and the output end of the generator 52 is connected to the energy storage battery 53.

[0041] In this embodiment, the remaining hydraulic energy is converted into electrical energy through the hydraulic motor 51 and the generator 52, and the relief valve 54 protects the system from overload. The set pressure of the relief valve 54 is 120% of the rated pressure of the hydraulic motor 51. Among them, the hydraulic motor 51 can be an axial piston motor, such as the Bosch Rexroth A2FM series, with a rated pressure of 35 MPa.

[0042] Self-sealing valves are provided at the outlet ends of the multi-way pipe fittings, and the oil circuit is automatically sealed when the first quick coupling 34, the second quick coupling 44, or the third quick coupling 56 is disassembled.

[0043] In this embodiment, by using the spring mechanical self-locking of the self-sealing valve, the valve core automatically seals the oil circuit when the module is disassembled, which is convenient for plugging and maintenance.

[0044] The main control module includes a pressure signal acquisition component, a microcontroller, and a drive circuit; the pressure signal acquisition component includes an oil pressure sensor 61 and an accumulator pressure sensor 62; the oil pressure sensor 61 is arranged at the inlet end of the multi-pass pipe fitting for acquiring the real-time pressure signal of the high-pressure pipeline; the accumulator pressure sensor 62 is arranged at the oil port of the bladder accumulator 31 for acquiring the real-time pressure signal of the bladder accumulator 31; the microcontroller calculates the pressure change rate and compares it with a preset threshold value, and outputs a module switching instruction; the drive circuit drives the electromagnets of the first solenoid valve 33, the second solenoid valve 43, and the third solenoid valve 55 according to the module switching instruction.

[0045] In this embodiment, the signal is acquired in real time through the oil pressure sensor 61, and the microcontroller calculates the pressure change rate and makes a decision on module switching.

[0046] As Figure 2 shown, the high-pressure module further includes a cooling unit 7, and the cooling unit 7 includes a heat sink 71, a cooling fan 72, and a temperature sensor 73; the heat sink 71 is fixed on the outer wall of the bladder accumulator 31, the cooling fan 72 is fixed on the side of the heat sink 71, and the cooling fan 72 is connected to the main control module through a drive circuit; the temperature sensor 73 is fixed on the bladder accumulator 31 to monitor the working temperature of the bladder accumulator 31.

[0047] In this embodiment, heat dissipation of the bladder accumulator 31 is achieved through heat conduction of the heat sink 71 and forced convection of the fan, avoiding the influence of too high bladder temperature on the service life.

[0048] The main control module further includes a wireless communication module and a remote monitoring platform. The microcontroller uploads the module working status, pressure data, temperature data, and flow data to the remote monitoring platform through the wireless communication module, and receives external control instructions to adjust the preset threshold value.

[0049] In this embodiment, data is uploaded to the cloud through a 4G module, and the threshold value is optimized by machine learning. Preferably, the historical pressure data is trained using an LSTM network.

[0050] This embodiment also provides a recovery method using the modular hydraulic energy recovery device, which specifically includes the following steps:

[0051] Step S1. Real-time pressure signal acquisition: The real-time pressure value P of the high-pressure pipeline of the hydraulic system is acquired through the oil pressure sensor 61; the real-time pressure value P of the oil chamber of the bladder accumulator 31 is acquired through the accumulator pressure sensor 62 储 ;

[0052] Step S2. Pressure change rate calculation: The microcontroller of the main control module calculates according to the formula d P / d t =(P t -Pt-1 ) Calculate the pressure change rate through ΔP / Δt and perform Kalman filtering on the signal to remove noise;

[0053] Step S3. Threshold comparison and module switching decision:

[0054] If P ≥ 15 MPa and d P / d t < 5 MPa / s, then open the first solenoid valve 33 of the high-pressure module and close the second solenoid valve 43 of the high-frequency module;

[0055] If P < 15 MPa and d P / d t > 10 MPa / s, then open the second solenoid valve 43 of the high-frequency module and close the first solenoid valve 33 of the high-pressure module;

[0056] If P 储 ≥ 20 MPa, then open the third solenoid valve 55 of the power generation module and close the first solenoid valve 33 of the high-pressure module;

[0057] If P > 15 MPa and d P / d t ≥ 10 MPa / s, then open the first solenoid valve 33 and the second solenoid valve 43 simultaneously;

[0058] Step S4. Feedback optimization and fault handling:

[0059] The main control module records the historical operating condition data and optimizes the pressure threshold through a machine learning algorithm; when a module leakage is detected, the faulty module is forced to close and an alarm signal is triggered.

[0060] It further includes the following steps:

[0061] Obtain the oil temperature T of the bladder accumulator 31 in real time through the temperature sensor 73 high ;

[0062] If T high > 55 °C, the main control module controls the cooling fan 72 to turn on;

[0063] If T high > 80 °C, reduce the upper limit of the energy storage pressure of the high-pressure module to 80% of the rated value and trigger a high-temperature alarm;

[0064] If T high < 50 °C, turn off the cooling fan 72 to save energy.

[0065] Embodiment 2

[0066] Based on Embodiment 1, during the pressure-holding stage of the stamping head of the stamping machine, the working process of this embodiment:

[0067] 1. The main control module detects that P = 18 MPa, and the microcontroller calculates d P / d t = 3 MPa / s, and it is determined to be a high-pressure slow-change working condition.

[0068] 2. Open the first solenoid valve 33 of the high-pressure module, and close the second solenoid valve 43 and the third solenoid valve 55 of the high-frequency module and the power generation module.

[0069] 3. The bladder accumulator 31 absorbs energy through the first throttle valve 32, and the pressure change rate is stabilized at 3 MPa / s.

[0070] 4. The temperature sensor 73 detects that the temperature of the accumulator rises to 58 °C, starts the cooling fan 72 (rotation speed 1500 rpm), and the temperature drops below 50 °C.

[0071] In this embodiment, during the pressure-holding stage of the stamping head, the system pressure is high but changes slowly, meeting the adaptation conditions of the high-pressure module. The bladder accumulator 31 absorbs energy at a constant rate through the adjustment of the first throttle valve 32, avoiding hydraulic shock caused by sudden pressure drop. The temperature sensor 73 and the cooling fan 72 form a closed-loop temperature control system, maintaining the temperature of the accumulator below 55 °C through the PID algorithm to ensure the service life of the seal and the bladder accumulator 31.

[0072] Embodiment Three

[0073] Based on Embodiment One, when the stamping head of the stamping machine quickly descends and contacts the workpiece instantaneously, the working process of this embodiment is as follows:

[0074] 1. The main control module detects that P = 12 MPa, dP / dt = 15 MPa / s, and it is determined to be a medium-low pressure high-frequency working condition.

[0075] 2. Open the second solenoid valve 43 of the high-frequency module, and the second throttle valve 42 adjusts the opening degree to absorb the instantaneous impact.

[0076] 3. The diaphragm accumulator 41 responds within 50 ms, and the pressure fluctuation drops to 4 MPa / s.

[0077] In this embodiment, when the stamping head quickly contacts the workpiece, although the system pressure is not high, the pressure change rate is extremely large. The diaphragm accumulator 41 of the high-frequency module, with a fast response ability of ≤50 ms, cooperates with the dynamic adjustment of the piezoelectric ceramic second throttle valve 42 to suppress the pressure fluctuation from 15 MPa / s to 4 MPa / s. The main control module eliminates sensor noise through Kalman filtering to ensure the accuracy of the switching instruction.

[0078] Embodiment Four

[0079] Based on Embodiment One, in the working condition of superposition of high pressure and impact during continuous operation of the stamping machine, the working process of this embodiment is as follows:

[0080] 1. When the main control module detects that P = 17 MPa and dP / dt = 12 MPa / s, it is determined as a mixed working condition.

[0081] 2. At the same time, the first solenoid valve 33 of the high-pressure module and the second solenoid valve 43 of the high-frequency module are opened. The bladder accumulator 31 absorbs the steady high pressure, and the diaphragm accumulator 41 suppresses the high-frequency pulsation.

[0082] 3. The main control module adjusts the opening degrees of the first throttle valve 32 and the second throttle valve 42 through the PID algorithm.

[0083] In this embodiment, during continuous stamping operations, both high pressure and high-frequency pulsation exist in the system. The main control module uses a parallel control strategy to enable the bladder accumulator 31 of the high-pressure module to absorb the steady pressure, and the diaphragm accumulator 41 of the high-frequency module to suppress the instantaneous fluctuations. The PID algorithm adjusts the opening degrees of the first throttle valve 32 and the second throttle valve 42 of the two modules to achieve hierarchical energy recovery.

[0084] Embodiment Five

[0085] Based on Embodiment One, this is the working process of this embodiment when the accumulator pressure exceeds the limit during continuous operation of the stamping machine.

[0086] 1. When the main control module detects that P_storage = 22 MPa, it closes the first solenoid valve 33 of the high-pressure module and opens the third solenoid valve 55 of the power generation module.

[0087] 2. The hydraulic motor 51 drives the generator 52, and the remaining energy in the high-pressure pipeline is converted into electrical energy and stored in the energy storage battery 53.

[0088] 3. The overflow valve 54 opens when the pressure > 42 MPa to protect the hydraulic motor 51.

[0089] In this embodiment, when the accumulator pressure exceeds the limit, the main control module forcibly switches to the power generation module. The hydraulic motor 51 (axial piston type, rated pressure 35 MPa) drives the generator 52 to convert the remaining hydraulic energy into electrical energy for storage. The overflow valve 54 is set at 42 MPa (120% of the rated pressure of the hydraulic motor 51) to prevent overpressure damage. The third solenoid valve 55 of the power generation module adopts a pilot-operated structure, and the opening time ≤ 15 ms to ensure rapid energy release. When the power generation module is operating, the high-pressure module automatically closes to avoid waste of energy circulation.

[0090] Through multi-condition adaptation and module coordination, the present invention achieves an overall cycle energy recovery efficiency > 85% in the application of the stamping machine, while significantly improving the reliability and lifespan of the equipment.

Claims

1. A modular hydraulic energy recovery device, characterized in that: It includes a hydraulic source, an actuator, a multi-way pipe fitting, a high-pressure module, a high-frequency module, a power generation module and a main control module; the outlet of the hydraulic source is connected to the actuator through a high-pressure pipeline, the inlet end of the multi-way pipe fitting is connected to the high-pressure pipeline in parallel, and the outlet end of the multi-way pipe fitting is respectively connected to the high-pressure module, the high-frequency module and the power generation module; the main control module dynamically switches the working modes of the high-pressure module, the high-frequency module and the power generation module according to the real-time pressure signal and the pressure change rate.

2. A modular hydraulic energy recovery device according to claim 1, characterized in that: The high-pressure module includes a bladder accumulator, a first throttle valve, a first solenoid valve and a first quick interface; the first quick interface is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil port of the bladder accumulator is connected in series with the first throttle valve and the first solenoid valve in sequence, and then connected to the first quick interface.

3. A modular hydraulic energy recovery device according to claim 1, characterized in that: The high-frequency module includes a diaphragm accumulator, a second throttle valve, a second solenoid valve and a second quick interface; the second quick interface is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil port of the diaphragm accumulator is connected in series with the second throttle valve and the second solenoid valve in sequence, and then connected to the second quick interface.

4. A modular hydraulic energy recovery device according to claim 1, characterized in that: The power generation module includes a hydraulic motor, a generator, an energy storage battery, a relief valve, a third solenoid valve and a third quick interface; the third quick interface is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil inlet of the hydraulic motor is connected to the third quick interface in series with the third solenoid valve, and the relief valve is connected in parallel between the hydraulic motor inlet and the oil tank; the oil outlet of the hydraulic motor is connected to the oil tank through a low-pressure filter, and the hydraulic motor drives the generator through a coupling to convert hydraulic energy into electrical energy, and the output end of the generator is connected to the energy storage battery.

5. A modular hydraulic energy recovery device according to any one of claims 1 to 4, characterized in that: Each outlet end of the multi-way pipe fitting is provided with a self-sealing valve, which automatically closes the oil circuit when the first quick interface, the second quick interface or the third quick interface is disassembled.

6. A modular hydraulic energy recovery device according to claim 1, characterized in that: The main control module includes a pressure signal acquisition component, a microcontroller and a drive circuit; the pressure signal acquisition component includes an oil pressure sensor and an accumulator pressure sensor; the oil pressure sensor is arranged at the inlet end of the multi-way pipe fitting, and is used to collect the real-time pressure signal of the high-pressure pipeline; the accumulator pressure sensor is arranged at the oil port of the bladder accumulator, and is used to collect the real-time pressure signal of the bladder accumulator; the microcontroller calculates the pressure change rate and compares it with a preset threshold value, and outputs a module switching instruction; the drive circuit drives the electromagnet of the first solenoid valve, the electromagnet of the second solenoid valve and the electromagnet of the third solenoid valve according to the module switching instruction.

7. A modular hydraulic energy recovery device according to claim 2, characterized in that: The high-voltage module also includes a cooling unit, which includes a heat sink, a cooling fan and a temperature sensor; the heat sink is fixed to the outer wall of the bladder accumulator, the cooling fan is fixed to the side of the heat sink, and the cooling fan is connected to the main control module through a drive circuit; the temperature sensor is fixed on the bladder accumulator to monitor the working temperature of the bladder accumulator.

8. A modular hydraulic energy recovery device according to claim 6, characterized in that: The main control module also includes a wireless communication module and a remote monitoring platform. The microcontroller uploads the module working status, pressure data, temperature data and flow data to the remote monitoring platform through the wireless communication module, and receives external control instructions to adjust the preset threshold.

9. A recovery method using the modular hydraulic energy recovery device according to any one of claims 1 to 8, characterized in that: The specific steps include: Step S1. Real-time pressure signal acquisition: The real-time pressure value P of the high-pressure pipeline of the hydraulic system is acquired through the oil pressure sensor; the real-time pressure value P of the oil chamber of the bladder accumulator is acquired through the accumulator pressure sensor. 储 ; Step S2. Calculation of pressure change rate: The microcontroller of the main control module calculates the pressure change rate according to formula d P / d t =(P t -P t-1 ) / Δt calculates the pressure change rate and performs Kalman filtering to denoise the signal; Step S3. Threshold comparison and module switching decision: If P ≧ 15 MPa and d P / d t <5MPa / s, open the first solenoid valve of the high-voltage module and close the second solenoid valve of the high-frequency module; If P < 15 MPa and d P / d t >10MPa / s, the second solenoid valve of the high-frequency module is opened and the first solenoid valve of the high-voltage module is closed; If P 储 ≧20MPa, open the third solenoid valve of the power generation module and close the first solenoid valve of the high-voltage module; If P>15MPa and d P / d t ≧10MPa / s, the first solenoid valve and the second solenoid valve are opened at the same time; Step S4. Feedback optimization and troubleshooting: The main control module records historical operating data and optimizes the pressure threshold through a machine learning algorithm; when a module leak is detected, the faulty module is forcibly shut down and an alarm signal is triggered.

10. A modular hydraulic energy recovery method according to claim 9, characterized in that: The following steps are also included: The oil temperature T of the bladder accumulator is obtained in real time through the temperature sensor high ; If T high >55℃, the main control module turns on the cooling fan; If T high >80℃, reduce the upper limit of the energy storage pressure of the high-voltage module to 80% of the rated value, and trigger a high temperature alarm; If T high <50℃, turn off the cooling fan to save energy.

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