Modular hydraulic energy recovery device and method of recovery thereof

Abstract

The application discloses a modular hydraulic energy recovery device and a recovery method thereof, and relates to the technical field of hydraulic energy recovery.The high-pressure pipeline of a hydraulic system is connected in parallel with three functional modules through a multi-way pipe fitting to form a modular energy recovery system.The high-pressure module is combined with a skin bag type accumulator and a throttle valve to absorb energy under the condition that the system pressure is high and changes slowly, and the accumulator elastic energy storage characteristic is used to release the pressure smoothly.The high-frequency module is configured with a diaphragm type accumulator with fast response speed, and the throttle valve opening degree is dynamically adjusted to quickly suppress the instantaneous pressure fluctuation.The power generation module drives a generator through a hydraulic motor to convert the over-limit 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 module working state according to the preset logic, and introduces a machine learning algorithm to optimize the threshold decision, so that the system is self-adaptive to complex working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic energy recovery, in particular to a modular hydraulic energy recovery device and a recovery method thereof, which is suitable for recovering kinetic energy and potential energy in the process of braking or load dropping in engineering machinery, rail transit and industrial hydraulic systems. BACKGROUND

[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 a throttle valve, and the energy waste rate can reach 30%-50%. The existing technology recovers energy by using an energy accumulator, but has the following defects: 1. Poor adaptability of single mode: the traditional accumulator is only suitable for steady-state high pressure or low-frequency pulsation, and cannot simultaneously consider high-pressure energy storage and high-frequency impact scenarios, resulting in a decrease in recovery efficiency under dynamic conditions. 2. Energy conversion bottleneck: when direct power generation is used for recovery, the hydraulic motor has a slow response speed and cannot match the instantaneous pressure fluctuation, resulting in overflow loss. 3. Insufficient module linkage: the existing device is designed with a fixed structure of a three-way pipe and a single accumulator, and cannot dynamically switch the energy recovery mode according to the working conditions, and needs to be stopped for maintenance when the module is damaged. Therefore, in view of the above phenomenon, a modular hydraulic energy recovery device and a recovery method thereof are proposed to meet the needs of actual use. SUMMARY

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

[0004] To solve the above technical problems, the present application provides a modular hydraulic energy recovery device and a recovery method thereof, which comprises a hydraulic source, an actuator, a multi-way pipe, 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 is connected in parallel to the high-pressure pipeline, and the outlet end of the multi-way pipe is connected to the high-pressure module, the high-frequency module and the power generation module respectively. The main control module dynamically switches the working mode 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 comprises a bladder accumulator, a first throttle valve, a first electromagnetic valve and a first quick connector; the first quick connector is connected in parallel to the high-pressure pipeline through the multi-way pipe; the oil port of the bladder accumulator is connected to the first quick connector in series through the first throttle valve and the first electromagnetic valve.

[0006] In some embodiments, the high-frequency module comprises a diaphragm accumulator, a second throttle valve, a second electromagnetic valve and a second quick connector; the second quick connector is connected in parallel with the high-pressure pipeline through a multi-way pipe; the oil port of the diaphragm accumulator is connected to the second quick connector in series with the second throttle valve and the second electromagnetic valve.

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

[0008] In some embodiments, each outlet end of the multi-way pipe is provided with a self-sealing valve, which automatically closes the oil circuit when the first quick connector, the second quick connector or the third quick connector is detached.

[0009] In some embodiments, the main control module comprises a pressure signal acquisition assembly, a microcontroller and a drive circuit; the pressure signal acquisition assembly comprises an oil pressure sensor and an energy accumulator pressure sensor; the oil pressure sensor is arranged at the inlet end of the multi-way pipe for acquiring real-time pressure signals of the high-pressure pipeline; the energy accumulator pressure sensor is arranged at the oil port of the bladder accumulator for acquiring real-time pressure signals 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 electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve according to the module switching instruction.

[0010] In some embodiments, the high-pressure module further comprises a cooling unit, the cooling unit comprises 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 the 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 comprises a wireless communication module and a remote monitoring platform, the microcontroller uploads the module working state, 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] The application provides a recovery method of a modular hydraulic energy recovery device, which specifically comprises the following steps:

[0013] Step S1. Real-time pressure signal acquisition: Collect the real-time pressure value P of the hydraulic system high-pressure pipeline through the oil pressure sensor; Collect the real-time pressure value P of the bladder accumulator oil cavity through the accumulator pressure sensor 储 ;

[0014] Step S2. Pressure change rate calculation: 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 on the signal to remove noise;

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

[0016] If P≧15MPa and d P / d t <5MPa / s, open the first electromagnetic valve of the high-pressure module and close the second electromagnetic valve of the high-frequency module;

[0017] If P<15MPa and d P / d t >10MPa / s, open the second electromagnetic valve of the high-frequency module and close the first electromagnetic valve of the high-pressure module;

[0018] If P 储 ≧20MPa, open the third electromagnetic valve of the electric module and close the first electromagnetic valve of the high-pressure module;

[0019] If P>15MPa and d P / d t ≧10MPa / s, open the first electromagnetic valve and the second electromagnetic valve at the same time;

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

[0021] The main control module records historical working condition data and optimizes the pressure threshold value through machine learning algorithm; When a module leak is detected, the fault module is forced to close and an alarm signal is triggered.

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

[0023] Real-time acquisition of the oil temperature T high of the bladder accumulator through the temperature sensor;

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

[0025] If T high >80℃, 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;

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

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

[0028] The present invention provides a modular hydraulic energy recovery device and a recovery method thereof. The device connects the high-pressure pipeline of the hydraulic system in parallel with 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-type accumulator and a throttle valve to absorb energy for working conditions where the system pressure is high and changes slowly, and uses the elastic energy storage characteristics of the accumulator to release pressure smoothly; the high-frequency module is equipped with a diaphragm accumulator with a fast response speed, which can quickly suppress instantaneous pressure fluctuations by dynamically adjusting the throttle valve opening; the power generation module drives the generator through a hydraulic motor to convert the excess energy stored in the accumulator into electrical energy storage. The main control module monitors the system pressure and its change rate in real time, dynamically switches the module working state according to the preset logic, and introduces a machine learning algorithm to optimize the threshold decision, so that the system can adapt to complex working conditions.

[0029] The present invention provides a modular hydraulic energy recovery device and a recovery method thereof. The device significantly improves the energy utilization efficiency of the hydraulic system through modular division of labor and collaborative control. The high-pressure module effectively recovers steady-state high-pressure energy and reduces the heat energy loss caused by traditional pressure relief; the high-frequency module suppresses pressure shock, 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-swap replacement. During maintenance, the self-sealing valve automatically closes the oil circuit to avoid efficiency loss caused by shutdown pressure relief. In addition, the intelligent temperature control and remote monitoring functions further enhance the reliability of the system, 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 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 It is a schematic structural diagram of the cooling unit of the present invention.

[0032] Numbers 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 interface; 41. Diaphragm accumulator; 42. Second throttle valve; 43. Second solenoid valve; 44. Second quick interface; 51. Hydraulic motor; 52. Generator; 53. Energy storage battery; 54. Overflow valve; 55. Third solenoid valve; 56. Third quick interface; 57. Low-pressure filter; 58. Oil tank; 61. Oil pressure sensor; 62. Accumulator pressure sensor; 71. Heat sink; 72. Cooling fan; 73. Temperature sensor. DETAILED DESCRIPTION

[0033] Example 1

[0034] like Figure 1 As shown, this embodiment provides a modular hydraulic energy recovery device, which is characterized by comprising 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 end of the multi-way pipe fitting is connected to the high-pressure module, the high-frequency module and the power generation module respectively; 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 embodiment, multi-way pipe fittings are connected in parallel to high-pressure pipelines to achieve dynamic multi-mode switching of high-voltage, high-frequency, and power conversion. The multi-way pipe fittings utilize a stainless steel four-way structure, with the inlet end connected to the high-pressure pipeline via a flange, and the outlet ends connected to the high-voltage module, high-frequency module, and power generation module, respectively. The main control module collects pressure signals in real time and switches modules based on threshold decisions. In some embodiments, the multi-way pipe fittings can utilize five-way or six-way structures to connect different numbers of modules, increasing their 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 interface 34; the first quick interface 34 is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil port of the bladder accumulator 31 is connected in series with the first throttle valve 32 and the first solenoid valve 33 in sequence, and then connected to the first quick interface 34.

[0037] In this embodiment, the high-pressure energy storage characteristics of the bladder accumulator 31 and the flow regulation of the throttle valve are used to adapt to high-pressure slowly changing working conditions. Among them, the pressure change rate is adjusted by the first throttle valve 32 to prevent sudden pressure changes.

[0038] The high-frequency module comprises a diaphragm accumulator 41, a second throttle valve 42, a second electromagnetic valve 43 and a second quick connector 44; the second quick connector 44 is connected in parallel with the high-pressure pipeline through a multi-way pipe fitting; the oil port of the diaphragm accumulator 41 is connected to the second quick connector 44 in series with the second throttle valve 42 and the second electromagnetic valve 43.

[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 fluctuation. The flexible deformation of the diaphragm of the diaphragm accumulator 41 is used to adapt to the pressure change rate of the high-frequency pressure wave. P / d t The transient state condition is greater than or equal to 10 MPa / s. The second throttle valve 42 is used to adjust the pressure change rate to prevent pressure mutation.

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

[0041] In this embodiment, the hydraulic motor 51 and the generator 52 are used to convert the remaining hydraulic energy into electric energy, and the relief valve 54 is used to protect the system overload. The set pressure of the relief valve 54 is 120% of the rated pressure of the hydraulic motor 51. The hydraulic motor 51 can be an axial piston motor, for example, Bosch Rexroth A2FM series, with a rated pressure of 35 MPa.

[0042] Each outlet end of the multi-way pipe fitting is provided with a self-sealing valve, which automatically seals the oil circuit when the first quick connector 34, the second quick connector 44 or the third quick connector 56 is disassembled.

[0043] In this embodiment, the spring mechanical self-locking of the self-sealing valve is used, the valve core automatically seals the oil circuit when the module is disassembled, and the plug-in maintenance is facilitated.

[0044] The master module comprises a pressure signal acquisition assembly, a microcontroller and a driving circuit; the pressure signal acquisition assembly comprises 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-way pipe fitting and is used to acquire real-time pressure signals of the high-pressure pipeline; the accumulator pressure sensor 62 is arranged at the oil port of the bladder accumulator 31 and is used to acquire real-time pressure signals 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 driving circuit drives the electromagnet of the first electromagnetic valve 33, the electromagnet of the second electromagnetic valve 43 and the electromagnet of the third electromagnetic valve 55 according to the module switching instruction.

[0045] In this embodiment, the oil pressure sensor 61 is used to acquire real-time signals, and the microcontroller calculates the pressure change rate and makes decisions on module switching.

[0046] As shown in Figure 2 , the high-pressure module further comprises a cooling unit 7, which comprises a heat sink 71, a cooling fan 72 and a temperature sensor 73; the heat sink 71 is fixed to the outer wall of the bladder accumulator 31, the cooling fan 72 is fixed to the side of the heat sink 71, and the cooling fan 72 is connected to the master module through the driving circuit; the temperature sensor 73 is fixed to the bladder accumulator 31 and monitors the working temperature of the bladder accumulator 31.

[0047] In this embodiment, the heat sink 71 and the fan forced convection are used to dissipate heat from the bladder accumulator 31, so as to avoid the influence of high temperature of the bladder on the service life.

[0048] The master module further comprises a wireless communication module and a remote monitoring platform, and the microcontroller uploads the module working state, 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, the 4G module is used to upload data to the cloud, machine learning is used to optimize the threshold value, and the LSTM network is preferably used to train historical pressure data.

[0050] The present embodiment also provides a recycling method using the modular hydraulic energy recovery device, which specifically comprises 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 by the oil pressure sensor 61; the real-time pressure value P of the oil cavity of the bladder accumulator 31 is acquired by the accumulator pressure sensor 62 储 ;

[0052] Step S2. Pressure change rate calculation: the microcontroller of the master module calculates the pressure change rate according to the formula d P / d t =(P t -Pt-1 ) / Δt to calculate the pressure change rate, and Kalman filter is used to denoise the signal;

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

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

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

[0056] If P 储 >= 20 MPa, open the third electromagnetic valve 55 of the electric module and close the first electromagnetic valve 33 of the high-pressure module;

[0057] If P > 15 MPa and d P / d t >= 10 MPa / s, open the first electromagnetic valve 33 and the second electromagnetic valve 43 at the same time;

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

[0059] The main control module records historical working condition data and optimizes the pressure threshold through machine learning algorithm. When a module leakage is detected, the fault module is forced to be closed and an alarm signal is triggered.

[0060] Further comprising the following steps:

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

[0062] If T high > 55℃, the main control module controls to start the cooling fan 72;

[0063] If T high > 80℃, the upper limit of the energy storage pressure of the high-pressure module is reduced to 80% of the rated value, and a high-temperature alarm is triggered;

[0064] If T high < 50℃, the cooling fan 72 is closed to save energy.

[0065] Example Two

[0066] On the basis of Example One, during the holding pressure stage of the punch head of the punch, the working process of the present embodiment is:

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

[0068] 2. Open the first electromagnetic valve 33 of the high pressure module, and close the second electromagnetic valve 43 and the third electromagnetic 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 accumulator temperature rises to 58°C, and starts the cooling fan 72 (rotating speed 1500 rpm), and the temperature falls back to below 50°C.

[0071] In this embodiment, during the pressure maintaining stage of the punch head, the system pressure is high but changes slowly, which meets 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 impact caused by sudden pressure drop. The temperature sensor 73 and the cooling fan 72 form a closed-loop temperature control system, which maintains the accumulator temperature below 55°C through the PID algorithm, ensuring the service life of the sealing element and the bladder accumulator 31.

[0072] Example Three

[0073] Based on example one, at the moment when the punch head of the punch machine rapidly descends and contacts the workpiece, the working process of this embodiment is:

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

[0075] 2. Open the second electromagnetic valve 43 of the high frequency module, and adjust the opening of the second throttle valve 42 to absorb the transient impact.

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

[0077] In this embodiment, when the punch head rapidly contacts the workpiece, the system pressure is not high, but the pressure change rate is extremely large. The diaphragm accumulator 41 of the high frequency module has a rapid response capability of ≤50 ms, and 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 command.

[0078] Example Four

[0079] Based on example one, in the high pressure and impact superposition condition in the continuous operation of the punch machine, the working process of this embodiment is:

[0080] 1、The main control module detects P = 17 MPa, dP / dt = 12 MPa / s, and determines that it is a mixed working condition.

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

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

[0083] In this embodiment, in the continuous stamping operation, the system simultaneously exists high pressure and high-frequency pulsation. The main control module controls the bladder accumulator 31 of the high-pressure module to absorb the steady-state pressure, and the diaphragm accumulator 41 of the high-frequency module to suppress the transient fluctuation through the parallel control strategy. The PID algorithm adjusts the opening of the first throttle valve 32 and the second throttle valve 42 of the two modules to realize the energy hierarchical recovery.

[0084] Example Five

[0085] On the basis of example one, when the accumulator pressure exceeds the limit during the continuous operation of the stamping machine, the working process of this embodiment.

[0086] 1、The main control module detects P = 17 MPa, dP / dt = 12 MPa / s, and determines that it is a mixed working condition.

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

[0088] 3、The overflow valve 54 is opened when the pressure is greater than 42 MPa, and the hydraulic motor 51 is protected.

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

[0090] Through multi-working condition adaptation and module cooperation, the present application realizes the full-cycle energy recovery efficiency > 85% in the stamping machine application, and significantly improves the equipment reliability and service life.

Claims

1. A recovery method for a modular hydraulic energy recovery device, characterized in that: The energy recovery device includes a hydraulic source, an actuator, a multi-way pipe, 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 via a high-pressure pipeline, the inlet end of the multi-way pipe is connected in parallel to the high-pressure pipeline, and the outlet end of the multi-way pipe is connected to the high-pressure module, the high-frequency module, and the power generation module respectively; 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; the recovery method includes the following steps: 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. Pressure change rate calculation: 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 to calculate the pressure change rate and perform Kalman filtering on the signal to remove noise; 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, open the second solenoid valve of the high-frequency module and close the first solenoid valve of the high-voltage module; If P 储 If the pressure is ≥20MPa, the third solenoid valve of the power generation module is opened and the first solenoid valve of the high-voltage module is closed; 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 machine learning algorithms; when a module leak is detected, the faulty module is forcibly shut down and an alarm signal is triggered.

2. The recovery method of 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. The recovery method of 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. The recovery method of 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 in series with the third solenoid valve and then connected to the third quick interface, 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. The recovery method of 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 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. The recovery method of 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, for collecting 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 collecting the real-time pressure signal of the bladder accumulator; the microcontroller calculates the pressure change rate and compares it with the preset threshold, and outputs the 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. The recovery method of 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 operating temperature of the bladder accumulator.

8. The recovery method of 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. The recovery method of a modular hydraulic energy recovery device according to claim 1, 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 high-voltage module's energy storage pressure 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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