Energy recovery method and device and electric operation machine

Abstract

The invention relates to the technical field of operation machinery, and discloses an energy recovery method and device and an electric operation machine.The energy recovery method comprises the steps that a brake signal for a first execution element is received; in response to the braking signal, controlling a first execution element to execute braking operation; under the condition that the first execution element is controlled to execute the braking operation, the braking grade corresponding to the first execution element is obtained, and the braking grade is determined based on the braking strength corresponding to the braking operation executed by the first execution element; and according to the braking grade, electric energy generated by the first execution element in the braking process is recycled. The braking grade is determined according to the braking strength, accurate adaptation to electric energy recovery can be achieved, it is ensured that the energy recovery process is always dynamically matched with the braking strength under various braking conditions, and therefore the overall energy efficiency is remarkably optimized, and energy waste is reduced.

Description

Technical Field

[0001] This application belongs to the field of work machinery technology, specifically relating to an energy recovery method, device and electric work machinery. Background Technology

[0002] Traditional skid steer loaders typically use diesel engines and hydraulic systems as their power source, resulting in high energy consumption, environmental pollution, noise levels, and maintenance costs. With increasing environmental awareness and technological advancements, traditional skid steer loaders can no longer meet market demands, leading to the incorporation of energy recovery devices. However, traditional energy recovery devices have several drawbacks.

[0003] Skid steer loaders operate under complex and varied conditions. Existing energy recovery devices cannot adapt to continuous high-intensity or sudden and changeable recovery needs. When the equipment brakes too suddenly or for too long, the energy generated is very likely to exceed the storage limit or safe voltage threshold. The recovered energy is often stored in a single device with limited storage capacity, which easily leads to energy waste and weakens the economic benefits of the recovery device. Summary of the Invention

[0004] In view of at least one of the above-mentioned defects or deficiencies in the prior art, this application provides an energy recovery method, device and electric operating machinery, which effectively overcomes the problems of low recovery efficiency and limited capacity, and realizes safe multi-stage recovery.

[0005] To achieve the above objectives, this application provides an energy recovery method, comprising: Receives a braking signal for the first actuator; In response to the braking signal, the first actuator is controlled to perform a braking operation; When controlling the first actuator to perform a braking operation, the braking level corresponding to the first actuator is obtained, and the braking level is determined based on the braking intensity corresponding to the braking operation performed by the first actuator. According to the braking level, the electrical energy generated by the first actuator during braking is recovered.

[0006] In some embodiments, recovering the electrical energy generated by the first actuator during braking according to the braking level includes: When the braking level is the first braking level, the electrical energy generated by the first actuator during braking is transferred to the second actuator; the first actuator and the second actuator belong to different actuator modules; When the braking level is the second braking level, the electrical energy generated by the first actuator during braking is transferred to the energy storage module; When the braking level is the third braking level, the electrical energy generated by the first actuator during braking is transmitted to the energy storage module and the energy consumption module; Wherein, the braking intensity corresponding to the first braking level is lower than the braking intensity corresponding to the second braking level, and the braking intensity corresponding to the second braking level is lower than the braking intensity corresponding to the third braking level.

[0007] In some embodiments, the energy storage module includes a capacitor and a battery, and the step of transferring the electrical energy generated by the first actuator during braking to the energy storage module includes: The electrical energy generated by the first actuator during braking is transferred to the capacitor; When the capacitance value of the capacitor is greater than the first capacitance threshold, the electrical energy generated by the first actuator during braking is transferred to the capacitor and the battery.

[0008] In some embodiments, the energy storage module includes a capacitor and a battery, and the step of transferring the electrical energy generated by the first actuator during braking to the energy storage module and the energy consumption module includes: The electrical energy generated by the first actuator during braking is transferred to the capacitor; When the capacitance value of the capacitor is greater than the first capacitance threshold, the electrical energy generated by the first actuator during braking is transferred to the capacitor and the battery. When both the capacitor charge and the battery charge are greater than the second charge threshold, the electrical energy generated by the first actuator during braking is transmitted to the energy-consuming module.

[0009] In some embodiments, transferring the electrical energy generated by the first actuator during braking to the capacitor includes: If the capacitance value of the capacitor is less than the second capacitance threshold, the capacitor is charged by the electrical energy generated by the first actuator during braking within a preset time period.

[0010] In some embodiments, the step of transferring the electrical energy generated by the first actuator during braking to the capacitor and the battery includes: The electrical energy generated by the first actuator during braking is transferred to the capacitor and the battery; If the battery capacity corresponding to the battery is greater than the third power threshold, the charging power of the battery is reduced.

[0011] In some embodiments, the method further includes: If the ambient temperature corresponding to the battery is lower than a preset temperature, charging of the battery will be stopped.

[0012] A second aspect of this application provides an energy recovery device, which includes a control module, an energy storage module, an energy consumption module, a first actuator, and a second actuator. The control module is electrically connected to the energy storage module, the energy consumption module, the first actuator and the second actuator, respectively, and the control module is configured to perform the energy recovery method as described in any one of the above.

[0013] In some embodiments, the control module includes: The braking level calculation unit is configured to calculate the corresponding braking level and output a braking level signal based on the real-time braking intensity of the first actuator. The path switching unit is configured to activate the corresponding energy recovery channel according to the braking level signal.

[0014] A third aspect of this application provides an electric work machine, including the energy recovery device described in any one of the above claims.

[0015] By using the above technical solution, the braking level is determined based on the braking intensity, enabling precise adaptation of energy recovery. This ensures that the energy recovery process is always dynamically matched with the braking intensity under various braking conditions, thereby significantly optimizing overall energy efficiency and reducing energy waste. Real-time response to braking signals and acquisition of level parameters enhance the timeliness and flexibility of energy recovery. Since the braking level is acquired in real time during braking operations, the recovery mechanism can be adjusted immediately, avoiding the lag or crudeness problems in traditional recovery methods. This not only maximizes the utilization of regenerated electrical energy generated during the braking process and improves recovery efficiency, but also protects the actuators through graded protection, preventing energy loss due to insufficient recovery or system damage caused by excessive recovery, thus extending equipment life.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic diagram of the energy recovery method in this invention; Figure 2This is a schematic diagram of the energy recovery device in this invention; Explanation of reference numerals in the attached figures Detailed Implementation

[0018] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0019] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0020] like Figure 1 As shown, the first aspect of this application provides an energy recovery method, which may include the following steps: Step 101: Receive a braking signal for the first actuator; In this step, a signal is received to perform a braking operation on the first actuator. The source of the braking signal can be diverse, such as: a braking signal issued by the driver through the electronic control handle; a braking signal generated by the driver operating the brake pedal and the pedal position sensor detecting the change in travel and generating a corresponding electrical signal; a braking signal generated by the driver releasing the accelerator pedal and the accelerator pedal position sensor detecting the release state and generating a corresponding signal; a command signal from the vehicle's automatic control system; or a braking request signal generated autonomously by the internal logic of the control module based on preset conditions.

[0021] Step 102: In response to the braking signal, control the first actuator to perform the braking operation; In response to the braking signal received in step 101, the first actuator is controlled to perform a braking operation, which means switching the first actuator from the driving mode to the power generation mode.

[0022] Step 103: When controlling the first actuator to perform a braking operation, obtain the braking level corresponding to the first actuator. The braking level is determined based on the braking intensity corresponding to the braking operation performed by the first actuator. While performing the braking operation, the braking level corresponding to the first actuator is obtained. The braking level is determined based on the current actual braking intensity corresponding to the braking operation performed by the first actuator. The braking level can be determined by: real-time measurement or calculation of key parameters related to braking intensity, such as the actual value of the regenerative braking torque generated by the first actuator; or the actual value of the wheel acceleration corresponding to the first actuator.

[0023] It should be noted that the acquired braking signal may include the braking level of the first actuator. The first actuator brakes according to the braking level in the braking signal and feeds back the actual braking level. If the actual braking level does not match the braking level in the braking signal, the braking level of the first actuator will be corrected to match the braking level in the braking signal. The braking level characterizes the energy release potential of the current braking behavior or the specific requirements for the recovery strategy. For example, strong braking usually generates more instantaneous energy, but may require rapid processing to avoid system overvoltage.

[0024] Step 104: Recover the electrical energy generated by the first actuator during braking, according to the braking level.

[0025] Based on the braking level obtained in step 103, a corresponding energy recovery strategy is selected and executed to effectively recover the electrical energy generated by the first actuator during braking operation. The electrical energy generated during braking is typically in AC or pulsating DC form, requiring conversion and adjustment before storage or utilization. The core of the recovery strategy lies in dynamically adapting the configuration or control parameters of the recovery circuit according to the braking level, controlling the flow of electrical energy to different energy storage elements or loads based on the braking level.

[0026] This embodiment clearly demonstrates the specific implementation process of the energy recovery method of the present invention, highlighting the dynamic determination of the braking level based on the actual braking intensity corresponding to the braking operation, and the intelligent control of the energy recovery process based on the braking level. This solves the problem that the single recovery strategy in the prior art is inefficient or unsafe under complex braking conditions, and significantly improves the energy recovery efficiency and adaptability.

[0027] In some embodiments, the electrical energy generated by the first actuator during braking is recovered according to the braking level, including: when the braking level is a first braking level, transferring the electrical energy generated by the first actuator during braking to a second actuator; the first actuator and the second actuator belong to different actuator modules; when the braking level is a second braking level, transferring the electrical energy generated by the first actuator during braking to an energy storage module 202; when the braking level is a third braking level, transferring the electrical energy generated by the first actuator during braking to both the energy storage module 202 and the energy consumption module 203; wherein the braking intensity corresponding to the first braking level is lower than the braking intensity corresponding to the second braking level, and the braking intensity corresponding to the second braking level is lower than the braking intensity corresponding to the third braking level.

[0028] It should be noted that braking levels can be divided into first, second, and third braking levels based on braking intensity. Braking intensity is determined by comparing the instantaneous acceleration during braking with a preset acceleration range. The first braking level is light braking, the second is medium braking, and the third is heavy braking, with braking intensity increasing sequentially. Energy storage module 202 refers to devices capable of storing electrical energy, such as batteries and supercapacitors. Energy consumption module 203 refers to devices used to convert electrical energy into non-electrical forms such as heat energy, such as braking resistors.

[0029] When the obtained braking level is the first braking level, the electrical energy generated by the first actuator during braking is transferred to the second actuator. Here, the first and second actuators belong to different actuator modules, allowing for directional energy flow between different functional units. This enables effective allocation and reuse of energy among independent functional units, achieving instantaneous, low-loss energy reuse. It is particularly suitable for dynamic energy scheduling within multi-actuator systems, reducing efficiency losses caused by intermediate conversion stages and improving overall system energy efficiency. The electrical energy generated at the first braking level is relatively small and can be directly consumed by other actuators. However, when other actuators do not require operation and do not consume electrical energy, the electrical energy recovered through the first actuator can also be recycled to the energy storage module 202.

[0030] When the braking level is increased to the second braking level, the target path for energy recovery changes. The electrical energy generated by the braking of the first actuator is transferred to the energy storage module 202, rather than to other actuators. At this point, the focus is on storing the energy from moderate-intensity braking for later use. This unified storage of energy in the energy storage module 202 balances the economies of scale in energy recovery with the flexibility of subsequent use, providing energy reserves for the subsequent driving of actuators or powering other systems.

[0031] Under the more intense third braking level, considering that the instantaneous power peaks may exceed the safe receiving capacity of the energy storage module 202 or that excess energy needs to be quickly dissipated to maintain system stability, the control system adopts a composite path strategy. This strategy simultaneously transmits the electrical energy generated by the braking of the first actuator to both the energy storage module 202 and the energy consumption module 203. That is, a portion of the energy is stored, while the other portion is converted into heat energy and controlled for consumption through the energy consumption module 203 (such as a braking resistor or a discharge circuit). This composite path of parallel energy storage and consumption maximizes the recovery of acceptable energy through the energy storage module 202, while simultaneously absorbing power peaks exceeding the system's safety threshold in real time through the energy consumption module 203. This effectively prevents damage to electrical components or system failures caused by overvoltage, overcurrent, or overheating, ensuring the safety and reliability of the entire braking and energy recovery process.

[0032] The braking levels in this invention follow the physical law of increasing braking intensity: the first braking level corresponds to the lowest braking intensity, the second braking level corresponds to a braking intensity higher than the first level but lower than the third level, and the third braking level corresponds to the operating condition with the highest braking intensity. This mechanism of dynamically switching the recovery path based on braking intensity levels ensures the balance between maximizing energy recovery efficiency and ensuring system operational safety under different braking demands, significantly enhancing the adaptability and practicality of the energy recovery method under complex and variable operating conditions.

[0033] In some embodiments, the energy storage module 202 includes a capacitor and a battery. Transferring electrical energy generated by the first actuator during braking to the energy storage module 202 includes: transferring electrical energy generated by the first actuator during braking to the capacitor; and, if the capacitance value of the capacitor is greater than a first capacitance threshold, transferring electrical energy generated by the first actuator during braking to both the capacitor and the battery. It is understood that the energy storage module 202 contains both a capacitor and a battery as energy storage media. When the braking level is the second braking level, when performing the operation of transferring electrical energy generated by the first actuator during braking to the energy storage module 202, the electrical energy is first transferred to the capacitor for storage. Simultaneously, the current capacitance value of the capacitor is monitored or calculated in real time and compared with a preset first capacitance threshold. When it is determined that the real-time capacitance value of the capacitor is greater than the first capacitance threshold, the transmission strategy is switched, and subsequently generated braking energy is simultaneously transferred to both the capacitor and the battery. The first capacitance threshold can be set according to actual conditions, and is generally set to 80%. Under this mechanism, electrical energy is preferentially absorbed by capacitors, which have faster response speeds and longer cycle lifespans, and only when their charge exceeds a certain threshold will batteries participate in storage, ensuring that the two energy storage media work together.

[0034] When the braking level is set to the second braking level, during the initial braking phase or when transient power fluctuations are significant, the capacitor's superior rate capability allows for rapid absorption of high-frequency pulse energy, effectively smoothing current peaks and preventing large current surges from impacting the battery, thus significantly extending battery life. The setting of a first charge threshold provides adaptive adjustment capabilities, fully leveraging the capacitor's charging and discharging efficiency when it is under low charge. Once the capacitor's charge exceeds the threshold, it connects with the battery to absorb energy, ensuring the system's overall capacity to absorb braking energy while preventing thermal runaway risks caused by capacitor overcharging. The capacitor-battery synergy mechanism, where the capacitor handles high-frequency, instantaneous power loads and the battery stores large-capacity, steady-state energy, complements each other under the coordinated control triggered by the charge threshold, effectively improving the efficiency and reliability of braking energy recovery. This maximizes system energy utilization efficiency and the durability of key energy storage components while ensuring the safe operation of critical electrical components.

[0035] In some embodiments, the energy storage module 202 includes a capacitor and a battery, and the energy generated by the first actuator during braking is transferred to the energy storage module 202 and the energy consumption module 203, including: transferring the energy generated by the first actuator during braking to the capacitor; when the capacitor charge corresponding to the capacitor is greater than a first charge threshold, transferring the energy generated by the first actuator during braking to the capacitor and the battery; when both the capacitor charge corresponding to the capacitor and the battery charge corresponding to the battery are greater than a second charge threshold, transferring the energy generated by the first actuator during braking to the energy consumption module 203. When the braking level is the third braking level, the electrical energy generated by braking is first transferred to the capacitor, utilizing its rapid response characteristics to preferentially absorb transient energy. The real-time charge of the capacitor is monitored. When the capacitor's charge exceeds a preset first charge threshold, the system switches to simultaneously transferring braking energy to both the capacitor and the battery, enabling the two energy storage media to work collaboratively. During this collaborative energy storage process, the charge status of both the capacitor and battery is continuously monitored. When both the capacitor's charge and the battery's charge exceed a preset second charge threshold, the subsequently generated braking energy is then completely transferred to the energy dissipation module 203 for targeted dissipation. This strategy uses two charge thresholds: the first threshold triggers the collaboration between the capacitor and the battery, and the second threshold triggers the switch to the energy dissipation module 203, achieving dynamic optimization of the energy recovery path. Similarly, the second charge threshold can be set according to actual conditions, typically set to 95%.

[0036] When the braking level is the third braking level, the system prioritizes energy absorption by the capacitor in the initial stage, fully utilizing its high-rate charge and discharge characteristics to effectively suppress the impact of current spikes on the battery and significantly extend battery cycle life. A first energy threshold is introduced as the criterion for capacitor saturation. When the capacitor's energy level approaches its upper limit, the battery is promptly introduced for collaborative energy storage, maintaining the system's energy absorption capacity for high-power braking while mitigating the risk of individual capacitor overcharging. A second energy threshold monitors the overall capacity of the energy storage module 202. When both the capacitor and battery are close to full charge, the system automatically switches to the energy dissipation module 203, forming a final safety line. This eliminates the risk of system overvoltage or thermal runaway due to energy storage medium saturation, ensuring absolute safety during the energy recovery process. Overall, this strategy constructs a three-level energy management architecture: "capacitor buffering → capacitor-battery collaboration → energy dissipation protection." The first two levels maximize the recovery of usable energy, while the third level ensures safety during the energy recovery process. This allows the braking energy recovery process to maintain both efficiency and safety under ultra-high-intensity operating conditions, significantly improving the system's reliability and overall energy efficiency ratio under critical conditions.

[0037] In some embodiments, transferring the electrical energy generated by the first actuator during braking to the capacitor and battery includes: transferring the electrical energy generated by the first actuator during braking to the capacitor and battery; and reducing the battery charging power when the battery capacity is greater than a third charge threshold. It should be noted that the third charge threshold is lower than the second charge threshold, and the third charge threshold can be set to 90%. When performing the operation of simultaneously transferring the braking energy of the first actuator to the capacitor and battery, a pre-regulation mechanism for the battery charging power is further introduced. Specifically, during the synchronous transfer of braking energy to the capacitor and battery, the current charge state of the battery is monitored in real time. If the battery charge is detected to be greater than a preset third charge threshold, an active derating operation of the battery charging power is immediately implemented. Power regulation is intervened in advance before the battery reaches a dangerous charge threshold, rather than passively waiting for overcharging to occur.

[0038] By setting a third charge threshold and pre-derating the power, the battery is charged in a gradual power reduction manner in the high charge range, i.e., when it is close to the second charge threshold but still has a safety margin. Specifically, the charging power can be reduced to half of the original charging power, which can significantly alleviate the internal resistance temperature rise effect under high charge state, avoid the risk of overcharging, lithium plating, or thermal runaway of individual battery cells, and improve safety. The power reduction process maintains the stability of the system energy flow. Compared with the traditional mechanism of directly cutting off the charging path during overcharging, it can prevent voltage surges or interruptions in energy recovery caused by sudden unloading of large loads, ensuring a smooth and jerk-free braking process. The third charge threshold is lower than the second charge threshold. When there is uncertainty in the braking power and duration, the difference between the third charge threshold and the second charge threshold reserves a sufficient response time window. This charging power pre-derating strategy based on a warning threshold maintains the continuity of energy recovery while ensuring the safe life of the battery.

[0039] In some embodiments, transferring the electrical energy generated by the first actuator during braking to the capacitor includes: charging the capacitor using the electrical energy generated by the first actuator during braking within a preset time period when the capacitor's charge level is less than a second charge threshold. When the braking level is the third braking level, if the real-time capacitor charge level is less than the preset second charge threshold, a timed charging path is activated. That is, within a preset time period, the electrical energy generated by the first actuator during braking is directionally delivered to the capacitor for charging. This charging process is strictly limited to the preset time period.

[0040] Understandably, the preset time period can be the instantaneous phase during braking. This preset time period can be adjusted according to actual conditions. As a configurable control parameter, it provides a flexible adjustment dimension for capacitor charging behavior under different operating conditions. Generally, it can be set to within 300ms after the start of the third braking level. During the preset time period after the start of the third braking level, the capacitor stores the high energy of the instantaneous phase. Utilizing the capacitor's microsecond-level response characteristic, it absorbs the instantaneous pulse energy, avoiding permanent damage to the battery caused by instantaneous overpower impacts, such as electrode lithium plating and thermal expansion bursting, thus extending battery life.

[0041] In some embodiments, the energy recovery method further includes stopping battery charging when the ambient temperature corresponding to the battery is lower than a preset temperature. During the transfer of braking energy to the energy storage module 202, the real-time temperature of the battery's environment is monitored. If the ambient temperature is detected to be lower than a preset critical temperature threshold (e.g., 0°C or other safety values ​​set according to the battery's chemical characteristics), a charging stop command is immediately executed to stop the battery charging operation. This directly intervenes in the energy recovery path through ambient temperature, avoiding charging behavior under low-temperature conditions. Deterioration of battery electrode dynamics at low temperatures leads to a sharp decrease in actual charging power. Forced charging stop eliminates potential hazards at the battery's critical state, ensuring the system's safety under extreme conditions. Stopping charging when the ambient temperature is lower than the preset threshold and instead guiding the braking energy to the capacitor or energy dissipation module 203 prevents ineffective energy cycling caused by low battery charging efficiency at low temperatures, thus improving the overall efficiency of the energy recovery system. The low-temperature protection mechanism and the aforementioned power level control strategy form a synergistic protection system, constructing a multi-dimensional safety boundary under complex temperature-state-of-charge cross-conditions, significantly enhancing the adaptability and reliability of the energy recovery method in all climate environments.

[0042] A second aspect of this application provides an energy recovery device 200, with reference to... Figure 2 The energy recovery device 200 includes a control module 201, an energy storage module 202, an energy consumption module 203, a first actuator 204, and a second actuator 205. The control module 201 is electrically connected to the energy storage module 202, the energy consumption module 203, the first actuator 204, and the second actuator 205, respectively. The control module 201 is configured to execute the energy recovery method described in any of the above embodiments. As a core decision-making unit, the control module 201 establishes bidirectional electrical connections with the energy storage module 202, the energy consumption module 203, the first actuator 204, and the second actuator 205 through circuit interfaces, forming a closed-loop control system. The control module 201 is configured to execute the steps described in any of the aforementioned energy recovery method embodiments, that is, to call stored program instructions through a built-in processor to realize real-time execution of braking signal reception, braking level judgment, graded energy path switching, and coordinated control strategies.

[0043] The first actuator 204 responds to the braking command issued by the control module 201 to perform mechanical braking and generate regenerative electrical energy; the energy storage module 202 stores electrical energy in stages under the scheduling of the control module 201; the energy dissipation module 203 safely dissipates excess energy after being triggered by the control module 201; and the second actuator 205 serves as an energy multiplexing carrier to receive electrical energy transfer. The coordination process of the control module 201 for the above modules includes: dynamically monitoring the status parameters of each module, such as capacitor charge and battery temperature; determining the braking level based on preset thresholds; generating corresponding energy transfer commands; and driving the actuator to operate through electrical connection lines.

[0044] By integrating a dedicated control module 201 into hardware, the complex logic of the graded energy recovery method is transformed into stable circuit control behavior, significantly improving the system's response speed and anti-interference capability. In particular, it ensures the real-time reliability of strategy execution under high-frequency transient braking conditions. The modular design enables the energy storage module 202, energy consumption module 203, first actuator 204, second actuator 205, and control module 201 to form a standardized interface, which not only facilitates maintenance and replacement but also reduces signal transmission delay and energy conversion loss through the shortest electrical connection path. This achieves millisecond-level linkage of safety strategies at the hardware level, eliminating the risk of overvoltage or thermal runaway caused by response delay.

[0045] In some embodiments, the control module 201 includes a braking level calculation unit and a path switching unit. The braking level calculation unit is configured to calculate the corresponding braking level based on the real-time braking intensity of the first actuator 204 and output a braking level signal. The path switching unit is configured to activate the corresponding energy recovery channel according to the braking level signal. The control module 201 achieves dynamic energy management through the collaborative architecture of the braking level calculation unit and the path switching unit. The braking level calculation unit continuously collects the real-time braking intensity signal of the first actuator 204 and outputs the corresponding braking level command according to the preset intensity level mapping relationship. The path switching unit responds to this command and accurately activates different energy recovery paths. When the braking level is determined to be the first braking level, the direct circuit from the first actuator 204 to the second actuator 205 is connected, and the energy recovered by the braking of the first actuator 204 is directly used for the motion consumption of the second actuator 205. When the braking level is determined to be the second braking level, the energy storage module 202 is activated to store the recovered energy. When the braking level is determined to be the third braking level, the storage circuit of the energy storage module 202 and the discharge path of the energy consumption module 203 are activated simultaneously. The hardware-based braking level calculation unit directly converts braking intensity parameters into level commands, significantly reducing control decision delay and ensuring timely system response under high-frequency transient braking conditions; the path switching unit enables rapid switching of energy recovery paths, significantly improving the stability of recovery path switching.

[0046] A third aspect of this application provides an electric working machine, including the energy recovery device described in any of the above claims. Specifically, the electric working machine can be implemented as an electric skid steer. In this configuration, the control module 201 of the energy recovery device is integrated with the vehicle controller or exists as an independent sub-unit. The energy storage module 202 is located inside the vehicle frame as part of the power supply system. The capacitor in the energy storage module 202 can be a supercapacitor, and the battery can be a battery pack. The energy consumption module 203 is integrated into the cooling duct. The first actuator 204 corresponds to two wheels and the boom of the skid steer, and the first travel motor and the boom electric cylinder are respectively connected to the two wheels and the boom. The second actuator 205 corresponds to the other two wheels and the bucket of the skid steer, and the second travel motor and the bucket electric cylinder are respectively connected to the other two wheels and the bucket. Both the first and second travel motors are mechanically connected to the tire rims to drive the tires for electric sliding movement. The first and second travel motors respectively drive the two front wheels and two rear wheels. The boom electric cylinder drives the boom's lifting and lowering to complete material loading and unloading operations. The bucket electric cylinder drives the bucket's opening and closing for loading and unloading materials. Data exchange and energy transmission pathways between the modules are achieved via the vehicle's CAN bus and power cables.

[0047] During the operation of the electric skid steer equipment, the working logic of the energy recovery device is specifically manifested as follows: When the driver operates the skid steer machinery to perform braking by manipulating the handle, the braking signal is received by the control module 201, and the control module 201 then instructs the drive motor to enter the braking mode; the braking level is calculated based on the current braking torque, for example, low-speed light-load steering braking corresponds to the first braking level, and the control module 201 transmits the electrical energy generated by the drive motor to the steering bucket electric cylinder (second actuator 205) to realize the instantaneous reuse of energy; when emergency braking triggers the third braking level, the system links the energy storage module 202 and the energy consumption module 203 to perform rapid capacitor energy storage, battery collaborative storage and instantaneous resistance dissipation, and ensures the system safety under high power recovery through preset power threshold and temperature protection mechanisms.

[0048] For the special working conditions of frequent starts and stops and high-frequency braking in electric skid steer machinery, a multi-stage energy recovery device converts braking potential energy into usable electrical energy, significantly extending continuous operation time. The direct energy supply mechanism (first braking level) effectively solves the pain point of high steering energy consumption in traditional skid steer equipment, reducing the main battery load under complex operating conditions while eliminating losses from traditional secondary energy conversion. The device's built-in multi-threshold safety strategy eliminates the risk of battery overcharge explosion or capacitor thermal runaway that may occur when the machinery is operating on slopes or braking under heavy loads. Furthermore, the instantaneous power absorption capacity of the energy dissipation module 203 maintains braking stability, preventing directional loss of control when braking on slippery surfaces. The electric skid steer machinery has fully verified the adaptability of the energy recovery method and device in different scenarios. It not only maximizes the utilization of regenerated electrical energy generated during braking and improves recovery efficiency, but also extends equipment lifespan by providing graded protection for actuators, preventing energy loss due to insufficient recovery or system damage caused by excessive recovery.

[0049] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0052] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An energy recovery method, characterized in that, include: Receives a braking signal for the first actuator; In response to the braking signal, the first actuator is controlled to perform a braking operation; When controlling the first actuator to perform a braking operation, the braking level corresponding to the first actuator is obtained, and the braking level is determined based on the braking intensity corresponding to the braking operation performed by the first actuator. According to the braking level, the electrical energy generated by the first actuator during braking is recovered.

2. The method according to claim 1, characterized in that, The step of recovering electrical energy generated by the first actuator during braking according to the braking level includes: When the braking level is the first braking level, the electrical energy generated by the first actuator during braking is transferred to the second actuator; the first actuator and the second actuator belong to different actuator modules; When the braking level is the second braking level, the electrical energy generated by the first actuator during braking is transferred to the energy storage module; When the braking level is the third braking level, the electrical energy generated by the first actuator during braking is transmitted to the energy storage module and the energy consumption module; Wherein, the braking intensity corresponding to the first braking level is lower than the braking intensity corresponding to the second braking level, and the braking intensity corresponding to the second braking level is lower than the braking intensity corresponding to the third braking level.

3. The method according to claim 2, characterized in that, The energy storage module includes a capacitor and a battery. The step of transferring the electrical energy generated by the first actuator during braking to the energy storage module includes: The electrical energy generated by the first actuator during braking is transferred to the capacitor; When the capacitance value of the capacitor is greater than the first capacitance threshold, the electrical energy generated by the first actuator during braking is transferred to the capacitor and the battery.

4. The method according to claim 2, characterized in that, The energy storage module includes a capacitor and a battery. The step of transferring the electrical energy generated by the first actuator during braking to the energy storage module and the energy consumption module includes: The electrical energy generated by the first actuator during braking is transferred to the capacitor; When the capacitance value of the capacitor is greater than the first capacitance threshold, the electrical energy generated by the first actuator during braking is transferred to the capacitor and the battery. When both the capacitor charge and the battery charge are greater than the second charge threshold, the electrical energy generated by the first actuator during braking is transmitted to the energy-consuming module.

5. The method according to claim 4, characterized in that, The step of transferring the electrical energy generated by the first actuator during braking to the capacitor includes: If the capacitance value of the capacitor is less than the second capacitance threshold, the capacitor is charged by the electrical energy generated by the first actuator during braking within a preset time period.

6. The method according to claim 3 or 4, characterized in that, The step of transferring the electrical energy generated by the first actuator during braking to the capacitor and the battery includes: The electrical energy generated by the first actuator during braking is transferred to the capacitor and the battery; If the battery capacity corresponding to the battery is greater than the third power threshold, the charging power of the battery is reduced.

7. The method according to any one of claims 3-5, characterized in that, The method further includes: If the ambient temperature corresponding to the battery is lower than a preset temperature, charging of the battery will be stopped.

8. An energy recovery device, characterized in that, The energy recovery device includes a control module, an energy storage module, an energy consumption module, a first actuator, and a second actuator. The control module is electrically connected to the energy storage module, the energy consumption module, the first actuator, and the second actuator, respectively, and the control module is configured to perform the energy recovery method as described in any one of claims 1-7.

9. The energy recovery device according to claim 8, characterized in that, The control module includes: The braking level calculation unit is configured to calculate the corresponding braking level and output a braking level signal based on the real-time braking intensity of the first actuator. The path switching unit is configured to activate the corresponding energy recovery channel according to the braking level signal.

10. An electric work machine, characterized in that, Includes the energy recovery device as described in any one of claims 8-9.

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