CN106223393A - A kind of digitized electric hydraulic excavating machine - Google Patents
A kind of digitized electric hydraulic excavating machine Download PDFInfo
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- CN106223393A CN106223393A CN201610826381.8A CN201610826381A CN106223393A CN 106223393 A CN106223393 A CN 106223393A CN 201610826381 A CN201610826381 A CN 201610826381A CN 106223393 A CN106223393 A CN 106223393A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The open a kind of digitized electric hydraulic excavating machine of the present invention, the input of each joystick with computer controller is electrically connected with by it；Boom cylinder, bucket arm cylinder, bucket cylinder and walking mechanism connect a hydraulic pump respectively, and hydraulic pump connects motor, and slew gear is driven by turning motor and rotates；The input of each motor is connected with the outfan of rotational speed governor respectively, the input of rotational speed governor is connected with outfan and the accumulator of computer controller simultaneously, it is separately installed with speed probe on each motor, it is respectively mounted variable controller on each hydraulic pump, the outfan of speed probe is connected with the input of computer controller, the input of variable controller is connected with the outfan of computer controller, and computer controller is also simultaneously connected with man machine interface.The present invention uses accumulator, motor and closed type hydraulic system, and carries out Operation control by computer controller, has energy-recuperation system, belongs to environmental protection zero-emission.
Description
Technical field
The invention belongs to technical field of engineering machinery, specifically a kind of digitized electric hydraulic excavating machine.
Background technology
Engineering machinery robotization is considered the trend of industry development all the time, and the premise that will realize automatically controlling is institute
Action is had to realize Digital Control.Hydraulic crawler excavator is as machinery the most frequently used in engineering machinery, its work under bad environment, behaviour
Making operating mode complicated, subject range is broad, and the operation principle of the hydraulic crawler excavator of prior art is by Engine driven Hydraulic Pump,
Output hydraulic pressure flows to banked direction control valves, by the control of banked direction control valves, output to each operation action.Under this mode of operation, each moves
Work cannot realize Digital Control, can only manually handle.Meanwhile, there is oil consumption height, row in excavator the most on the market
Put poor, the low shortcoming of capacity usage ratio, be on the rise under situation in energy shortage and problem of environmental pollution, the most energy-conservation and reduction row
Put, increasingly paid attention to by people.Current excavator structure is all to use driven by engine hydraulic pump, by banked direction control valves by hydraulic pressure
Can be assigned to each actuator, hydraulic system is valve control principle based on open type, and a large amount of energy expenditures are in restriction and overflow
On, cause capacity usage ratio low.China Patent Publication No. is that the one intelligence digital, all-hydraulic of CN 202466676 U is dug
Pick machine, it is proposed that use encoder to control digital servo valve, and then the technical scheme of control hydraulic cylinder, but still be base
Valve control principle in open type, it is impossible to solve the problems referred to above.
In the course of the work, there is the gyration inertia of substantial amounts of over-running load, such as slew gear in hydraulic crawler excavator
Greatly, when swing arm declines, gravitional force and kinetic energy are the biggest, and this portion of energy the most all consumes on the valve port of hydraulic valve, not only
Waste energy, also result in the reduction of system heat generation and component life.The most a lot of power-saving technologies, are intended to reclaim energy
Amount, such as a kind of excavator electrohydraulic mixed power structure that China Patent Publication No. is CN103882904A and excavator；China
Patent publication No. is the hybrid shovel of CN102318181B, is all by increasing accumulator or increasing hydraulic motor and send out
Motor reclaims hydraulic energy, but effect is the most undesirable, and also result in equipment cost increases simultaneously.
Summary of the invention
The technical problem to be solved is to provide a kind of digitized electric hydraulic excavating machine, it is achieved Digital Control
Each actuating mechanism, this excavator can realize zero-emission simultaneously, and operation process reduces hydraulic pressure heat producing losses, it is possible to reclaims operation process
The over-running load energy of middle generation, has energy-conserving and environment-protective advantage.
The present invention is with the following technical scheme above-mentioned technical problem of solution:
One digitized electric hydraulic excavating machine of the present invention, including walking mechanism, slew gear, swing arm and boom cylinder,
Dipper and bucket arm cylinder, scraper bowl and bucket cylinder, each joystick is electrically connected with the input of computer controller；Slew gear
Being driven by turning motor and rotate, walking mechanism is walked by movable motor or hydraulic pump drive, boom cylinder, bucket arm cylinder, scraper bowl
Oil cylinder connects a hydraulic pump respectively, and each hydraulic pump outfan with a motor respectively is connected, by motor driven liquid pressure
Pump work, slew gear is driven by turning motor and rotates；The input of each motor respectively with the outfan of a rotational speed governor
Being connected, the input of each rotational speed governor is connected with outfan and the accumulator of computer controller simultaneously, passes through accumulator
Power supply is provided to motor；It is separately installed with speed probe on each motor, each hydraulic pump is respectively mounted variable controller, rotating speed
The outfan of sensor is connected with the input of computer controller, the input of variable controller and the output of computer controller
End is connected, and controls the action of hydraulic pump with the rotating speed realized according to motor, and computer controller is also simultaneously connected with man machine interface.
Accumulator of the present invention is the most also connected with battery management system with rotational speed governor, passes through battery management
System controls accumulator and is supplied to the electricity of rotational speed governor.
Boom cylinder of the present invention, bucket arm cylinder use closed hydraulic loop to be connected with hydraulic pump with bucket cylinder
Connecing, concrete structure is: be connected by oil-feed branch road and oil return branch road between hydraulic pump with oil cylinder, and oil-feed branch road connects having of oil cylinder
Bar chamber end, oil return branch road connects the rodless cavity end of oil cylinder, and oil-feed branch road and oil return branch road are serially connected with respectively in the one end by oil cylinder
Bar chamber solenoid directional control valve and rodless cavity solenoid directional control valve, rodless cavity solenoid directional control valve and rod chamber solenoid directional control valve control with computer
Device is electrically connected with；It is parallel with two branch roads between oil-feed branch road and oil return branch road, wherein on a branch road, concatenates two check valves,
Connect between two check valves and have relief valve, another branch road concatenates two check valves, between two check valves, connect repairing
Pump and low pressure relief valve, slippage pump is connected with hydraulic pump, and the entrance point of slippage pump and the port of export are separately installed with check valve, outlet
End concatenates oil extraction solenoid directional control valve with between oil return branch road；The two ends of a low pressure relief valve little branch road in parallel, on this little branch road
Concatenate a check valve.
Walking mechanism of the present invention uses closed hydraulic loop to be connected with hydraulic pump, and concrete structure is: hydraulic pump
Being connected by oil-feed branch road and oil return branch road with the driving motor of walking mechanism, two branch roads are gone here and there respectively in the one end near motor
It is connected to solenoid directional control valve, two branch roads the most in parallel between oil-feed branch road and oil return branch road, wherein concatenate two lists on a branch road
To valve, connection safety valve between two check valves, another branch road concatenates two check valves, connects between two check valves and mend
Oil pump and low pressure relief valve, slippage pump is connected with hydraulic pump, and the entrance point of slippage pump and the port of export are separately installed with check valve, low
The two ends of a pressurized overflow valve little branch road in parallel, this little branch road concatenates a check valve.
Two position sensors, the outfan of position sensor and electricity are at least installed on slew gear of the present invention
The input of brain controller is connected, and is determined the anglec of rotation of excavator by position sensor.
The engine body exterior of excavator is provided with multiple diastimeter, the outfan of each diastimeter and the input of computer controller
End is connected.
The motor used is digital servomotor, has reverse power generation function.
The variable controller used on described hydraulic pump is numerical variable controller, can be driven by computer controller digitized
Dynamic.
Charging inlet and external generator stand are installed, it is simple to fill to accumulator on the body of excavator of the present invention
Electricity.
Digitized electric hydraulic excavating machine of the present invention has the advantages that
1., by using technical scheme, it is possible to achieve the Digital Control of excavator, add automatic Pilot journey
Sequence, also can realize unmanned operation function.Excavator everything is all driven by digital motor, controls system by motor speed
System, can accurately calculate and control motor rotating cycle and rotary speed, and all hydraulic cylinder all passes through hydraulic pump and directly drives,
The stroke of hydraulic cylinder accurately can be controlled by hydraulic pump rotating cycle, therefore, by computerized control system, and excavator institute of the present invention
Action is had accurately to control by digitized, it is possible to achieve precise manipulation and automated job.
2., unlike existing excavator, the present invention does not use electromotor, constant output pump and banked direction control valves, does not the most use
Complicated servo hydraulic system, by using accumulator, motor and electric-controlled type hydraulic pump, closed type hydraulic system, by computer control
Device processed carries out Operation control, and has energy-recuperation system,
3. walking mechanism and the slew gear of the present invention uses motor to drive, and the cylinder action of swing arm, dipper and scraper bowl is adopted
With closed type hydraulic system, eliminate banked direction control valves complicated on existing excavator, compared with existing excavator open type hydraulic system, nothing
The closed type hydraulic system that valve controls improves capacity usage ratio, and hydraulic pressure heat producing losses is greatly reduced simultaneously, effectively reduces excavation
The heating problem of machine hydraulic system.The most energy-conservation, also reduce the big heat sink needed for system radiating and large hydraulic fuel tank.
Additionally, everything is driven by motor, not having idling loss, energy-saving effect is notable.
4. by using technical scheme, when making swing arm, dipper and scraper bowl descending motion, the hydraulic pressure in hydraulic cylinder
Oil is connected with hydraulic pump by closed hydraulic loop, and when hydraulic pump input pressure is higher than outfan, pump is in motor operating conditions, liquid
Press pump drive motor overspeed operation, electric power generation is braked, thus is reclaimed swing arm, dipper and scraper bowl and decline produced energy.OK
Walk the electronic energy that can reclaim and produce when walking is braked, the energy of generation when turning motor can reclaim rotary braking, due to
Excavator operation process everything is all recovered energy by the present invention, effectively reduces energy consumption.
5. the present invention is compared with prior art, eliminates the electromotor on existing excavator, constant output pump, complicated multichannel
Valve and Hydrauservo System, therefore equipment simplifies, fault rate reduces, maintenance cost reduces.
6. the present invention is compared with prior art, eliminates fuel engines, by pure driven by power, it is achieved that zero-emission, makes an uproar
Sound reduces, environmental protection, and complete machine uses accumulator to provide power, use of can repeatedly charging.
Accompanying drawing explanation
Fig. 1 is the structural representation of digitized electric hydraulic excavating machine of the present invention.
Fig. 2 is Fig. 1 schematic top plan view in terms of right direction.
Fig. 3 is the structured flowchart of the circuit control system as a example by boom cylinder operation.
Fig. 4 is the closed type hydraulic system schematic diagram as a example by boom cylinder.
Fig. 5 is the structured flowchart of the circuit control system of slew gear.
Fig. 6 is the hydraulic control system schematic diagram of left side traveling crawler.
In figure: 1 walking mechanism, 2 slew gears, 3 top bodies, 4 driver's cabins, 5 movable motors, 6 move
Arm, 7 boom cylinders, 8 bucket arm cylinders, 9 Dou bucket oil cylinders, 10 scraper bowls, 11 dippers, 12 diastimeters；21 electric power storages
Pond, 22 swing arm pumps, 23 turning motors, 24 external generator stands, 25 charging inlets, 26 dipper pumps, 27 scraper bowls
Pump, 28 rotational speed governors, 29 swing arm motors, 30 dipper motors, 31 scraper bowl motors, 32 position sensors one,
33 position sensors two, 61 left movable motors, 62 left traveling pumps, 68 right movable motors, 69 right traveling pumps；41—
Handle, 42 man machine interfaces, 43 battery management systems, 44 rod chamber pressure transducers, 45 rodless cavity pressure transducers,
46 computer controllers, 47 speed probes, 48 variable controllers, 49 rotary handles, 50 oil cylinder position sensings
Device, 51 slippage pumps, 52 check valves, 53 rod chamber solenoid directional control valves, 54 rodless cavity solenoid directional control valves, 55 safety
Valve, 56 low pressure relief valves, 57 oil extraction solenoid directional control valves；64 solenoid directional control valves one, 65 solenoid directional control valves two, 67 is left
Running motor.
Detailed description of the invention
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
As depicted in figs. 1 and 2, digitized electric hydraulic excavating machine of the present invention includes walking mechanism 1, slew gear 2, swing arm
6, boom cylinder 7, dipper 11, bucket arm cylinder 8, scraper bowl 10, bucket cylinder 9 and driver's cabin 4 etc., the mounting means of these parts
Identical with conventional excavators, walking mechanism 1 carries top body 3 by slew gear 2, and swing arm 6 extends from top body 3, dynamic
The front end of arm 6 connects dipper 11, connects scraper bowl 10 in the front end of dipper 11, and swing arm 6, dipper 11 and scraper bowl 10 are respectively by with dynamic
The hydraulic pump drive that arm oil cylinder 7, bucket arm cylinder 8 and bucket cylinder 9 are connected.Driver's cabin 4, accumulator is carried on top body 3
21 and multiple motor and multiple hydraulic pump, multiple diastimeters 12 are arranged on above top body 3 and driver's cabin 4.Walking mechanism 1 is left
The traveling crawler on right both sides is driven by movable motor 5 respectively, and top body 3 is driven back to rotation mechanism 2 by turning motor 23, can carry out
360 degree of rotations, accumulator 21 is arranged on top body 3 rear portion, can arrange plurality of groups of storage batteries 21, and swing arm motor 29 couples swing arm
Pump 22, dipper motor 30 couples dipper pump 26, and scraper bowl motor 31 couples scraper bowl pump 27, and left movable motor 61 couples left traveling pump
62, right movable motor 68 couples right traveling pump 69.Being also equipped with rotational speed governor 28 on top body 3, right side is provided with outer sending and receiving
Motor cabinet 24 and charging inlet 25.Position sensor 1 and position sensor 2 33 are installed on slew gear 2, pass through position
The anglec of rotation can be fed back to computer controller by sensor, in order to perform its position of rotation of Digital Control.
The control principle of swing arm 6 of the present invention, dipper 11 and scraper bowl 10 is identical, below with the operation control of swing arm
Its structure and operation principle are described as a example by system processed, circuit control principle as shown in Figure 3:
The outfan of each diastimeter 12 and each joystick 41 are formed with the input of computer controller 46 simultaneously and are connected,
Boom cylinder 7 connects hydraulic movable arm pump 22, and hydraulic movable arm pump 22 is connected with the outfan of swing arm motor 29, by swing arm motor
29 drive hydraulic movable arm pump 22 to work, and the input of swing arm motor 29 is connected with the outfan of rotational speed governor 28, rotating speed control
The input of device 28 processed is connected with the outfan of computer controller 46 and the outfan of accumulator 21, by accumulator 21 simultaneously
There is provided power supply to swing arm motor 29, swing arm motor 29 is provided with speed probe 47, hydraulic movable arm pump 22 is installed variable control
Device 48 processed, the outfan of speed probe 47 is connected with the input of computer controller 46, the input of variable controller 48
It is connected with the outfan of computer controller 46, controls the dynamic of hydraulic movable arm pump 22 with the rotating speed realized according to swing arm motor 29
Making, computer controller 46 is also simultaneously connected with man machine interface 42, to facilitate reception instruction and display running status.Accumulator 21 and turning
Speed controller 28 be the most also connected with battery management system 43, by battery management system 43 control accumulator 21 be supplied to turn
Speed controller 28 and the electricity of swing arm motor 29.
Under manual working pattern, when needs action, operating control handle 41, issue instructions to computer controller 46, electricity
Brain controller 46 output order is to rotational speed governor 28, and rotational speed governor 28 obtains electric power energy from accumulator 21, according to instruction
Exporting corresponding electric energy to swing arm motor 29, motor 29 drives swing arm pump 22 to rotate, swing arm pump 22 output hydraulic pressure energy, drives swing arm
Oil cylinder 7, thus realize operation action.Action command and regulation parameter can be inputted by man machine interface 42, man machine interface 42 with
Computer controller 46 connects, it is achieved automatically control and parameter regulatory function.Accumulator 21 is filled by battery management system 43
The management of electricity electricity consumption, it is achieved optimum Working.
Under automatic job pattern, obtain surrounding enviroment situation by diastimeter 12, needed by man machine interface 42
Excavating entrucking and still repair requirement instruction and the targets such as slope, computer controller 46 is under automatic Pilot program is run, permissible
Carry out unmanned automatic job.
When operation, computer controller 46 is according to the rod chamber pressure transducer 44 on boom cylinder 7 and rodless cavity pressure
Sensor 45, the instant pressure obtaining 7 two chambeies of boom cylinder, after computing, output order is by the change on swing arm pump 22
Amount controller 48 regulates the discharge capacity of swing arm pump 22, is regulated the rotating speed of swing arm motor 29, and slave arm by rotational speed governor 28
Speed probe 47 on motor 29 accurately obtains the rotating speed of swing arm motor 29, by the operation control of computer controller 46, and can
So that the work efficiency of boom cylinder 7 reaches optimum.
Bucket arm cylinder 8 of the present invention is identical with the control principle of boom cylinder 7 with the control of bucket cylinder 9.This
Bright electric excavator all have employed closed type hydraulic system for boom cylinder, bucket arm cylinder, bucket cylinder, due to having of oil cylinder
Bar chamber is different from the volume of rodless cavity, therefore when motion, it is necessary to the flow in solution asymmetrical cylinder two chamber is asymmetric asks
Topic.To this end, present invention employs closed type hydraulic system, when closed type hydraulic system drives hydraulic jack, change by arranging electromagnetism
To the hydraulic unit such as valve, slippage pump, by computer controller control, can solve that the flow in asymmetrical cylinder two chamber is asymmetric asks
Topic.
As a example by the hydraulic control system of boom cylinder 7, as shown in Figure 4, boom cylinder 7 termination is provided with an oil cylinder position
Sensor 50, for computer system effect hydraulic cylinder travel.Between hydraulic movable arm pump 22 and boom cylinder 7 by oil-feed branch road and
Oil return branch road is connected, and oil-feed branch road connects the rod chamber end of boom cylinder 7, and oil return branch road connects the rodless cavity of boom cylinder 7
End, oil-feed branch road and oil return branch road concatenate rod chamber solenoid directional control valve 53 and rodless cavity electricity respectively in the one end by boom cylinder 7
Magnetic reversal valve 54, rodless cavity solenoid directional control valve 53 and rod chamber solenoid directional control valve 54 are electrically connected with computer controller 46, oil cylinder
Information is fed back to computer controller 46 by position sensor 50.Branch road A and branch road it is parallel with between oil-feed branch road and oil return branch road
B, branch road B concatenates two check valves 52, and connecting between two check valves has relief valve 55, the outlet connected tank of relief valve 55,
Concatenate two check valves on branch road A, between two check valves, connect slippage pump 51 and low pressure relief valve 56, slippage pump 51 and hydraulic pressure
Pump 22 connects, and entrance point and the port of export of slippage pump 51 are separately installed with check valve, concatenate between its port of export with oil return branch road
Oil extraction solenoid directional control valve 57；The two ends of a low pressure relief valve 56 little branch road in parallel, this little branch road concatenates a check valve.
During work, swing arm motor 29 drives swing arm hydraulic pump 22, and when boom cylinder 7 needs lifting, rod chamber electromagnetism changes
Opening to valve 53 and rodless cavity solenoid directional control valve 54, swing arm hydraulic pump 22 is to the rodless cavity pump oil of boom cylinder 7, due to swing arm oil
The rod chamber oil mass of cylinder 7 is less than rodless cavity, and slippage pump 51 oil suction from fuel tank, through the check valve 52, Xiang You near rod chamber
The oil circuit repairing of bar chamber, slippage pump 51 is chosen the slippage pump that discharge capacity is sufficiently large, is met boom cylinder 7 rodless cavity fuel feeding demand.If
The oil mass of slippage pump 51 output exceedes demand, then by low pressure relief valve 56, the oil spill having more is flowed back to fuel tank.Low pressure relief valve
One check valve of 56 parallel connections, if the low on fuel of slippage pump 51 output, then can directly from fuel tank oil suction add to into
Oil end.The oil inlet end of swing arm hydraulic pump 22 is entered, dynamic together with 51 pump oil masses of the rod chamber oil mass of boom cylinder 7 and slippage pump
Under arm motor 29 drives, swing arm hydraulic pump 22 is by direct for hydraulic oil pump to the rodless cavity of boom cylinder 7, thus it is dynamic to realize lifting
Make.The stroke of boom cylinder 7 is determined by the discharge capacity of swing arm motor 29 rotating cycle and swing arm hydraulic pump 22, can be by computer controller
46 are digitized controlling.
When boom cylinder 7 needs contracting fall, rod chamber solenoid directional control valve 53 and rodless cavity solenoid directional control valve 54 are opened, oil extraction
Solenoid directional control valve 57 is opened simultaneously, and swing arm hydraulic pump 22 is lowered in variable controller action and rotated into fuel-displaced direction, boom cylinder 7 nothing
The oil in bar chamber first meets swing arm hydraulic pump 22 oil inlet end demand, has more part and then flows to slippage pump through oil extraction solenoid directional control valve 57
51, flow back to fuel tank through low pressure relief valve 56.Driven by gravity reversal if swing arm declines process, then boom cylinder 7 rodless cavity
The hydraulic fluid pressure leading to swing arm hydraulic pump 22 oil inlet end can be higher than oil outlet end, and swing arm hydraulic pump 22, by reverse drive, becomes horse
Reaching operating mode, then drive swing arm motor 29 to rotate, swing arm motor 29 transfers electromotor operating mode to, transfers the potential energy that swing arm declines to electricity
Can, it is stored into power accumulator 21 through battery management system 43, it is achieved the energy regenerating of swing arm.
Solenoid directional control valve 53 and solenoid directional control valve 54 are arranged on close proximity to boom cylinder 7 oil-in position, need not
During action, boom cylinder 7 is played latch functions.During just in case there is booster or other accident in system oil-way, solenoid directional control valve 53
With solenoid directional control valve 54 can keep boom cylinder 7 will not action, play safety effect.
Relief valve 55 is connected in oil circuit two ends by two check valves 52, when the pressure of certain one end is higher than setting pressure,
Return to fuel tank by relief valve 55 emptying, hydraulic system is played a protective role.
The present invention, by arranging the hydraulic units such as computer controller, solenoid directional control valve, slippage pump, can solve Closed Hydraulic
The flow asymmetry problem in system drive asymmetrical cylinder two chamber.It should be explicitly made clear at this point, Fig. 4 is only the one of solution
Kind, not as a limitation of the invention, by the utilization of computer controller, it is also possible to deform and multiple solution, all should
As protection scope of the present invention.
Slew gear 2 of the present invention is driven by turning motor 23, its circuit control principle as shown in Figure 5: revolution hands
Instruction is dealt into computer controller 46 by handle 49, and computer controller 46 receives signal, output correspondence instruction turning to turning motor 23
Speed controller 28, rotational speed governor 28 exports corresponding electric energy to turning motor 23, is driven back to rotating motor 23 and rotates, thus drive
Slew gear 2 moves, and turning motor 23 is provided with speed probe 47, and rotating speed and rotational angle are sent to computer controller
46.Position sensor 1 and position sensor 2 33 are installed on slew gear, signal are dealt on computer controller 46, can
Whether 23 gyrations of effect turning motor are consistent with actual rotation amount.When needs slow down stopping, computer controller 46 is received
Rotary handle 49 signal, issues instructions to the rotational speed governor of turning motor 23, and due to the effect of rotator inertia, slew gear will
Reverse drive turning motor 23, at this moment turning motor 23 transfers generator operation state to, carries out generating electricity and braking deceleration, it is achieved
Energy regenerating.
Walking mechanism 1 of the present invention can use crawler type walking mechanism, the hydraulic control that left and right traveling crawler uses
System be the traveling crawler control principle on Closed Hydraulic control system, the left side and the right be the same, as a example by the crawler belt of the left side, see
Shown in Fig. 6, left side crawler belt is coupled left traveling pump 62 by left movable motor 61, drives left running motor through closed hydraulic loop
67, it is connected by oil-feed branch road and oil return branch road between left traveling pump 62 with left running motor 67, two branch roads are near motor
One end concatenate solenoid directional control valve 1 and solenoid directional control valve 2 65 respectively, also parallel branch between oil-feed branch road and oil return branch road
C and branch road D, branch road D concatenates two check valves, connection safety valve 55 between two check valves, and on branch road C, concatenation two is unidirectional
Valve, connects slippage pump 51 and low pressure relief valve 56 between two check valves, slippage pump 51 is connected with left traveling pump 62, slippage pump 51
Entrance point and the port of export be separately installed with check valve 52, the two ends of a low pressure relief valve 56 little branch road in parallel, this little branch road
One check valve 52 of upper concatenation.
When left side crawler belt needs action, solenoid directional control valve 1 and solenoid directional control valve 2 65 are opened simultaneously, left traveling pump
62 according to the instruction of computer controller 46, and regulation direction and displacement size, left movable motor 61 drives left traveling pump 62, to left lateral
Walking motor 67 pump oil, left running motor 67 drives driving wheel to realize walking motion through reductor.Owing to closed type hydraulic system has
Certain leakage, is therefore provided with slippage pump 51, keeps to low-pressure side repairing.When the oil mass of slippage pump 51 output is beyond demand,
Fuel tank is flowed back to through low pressure relief valve 56.If during the low on fuel demand of slippage pump 51 output, then unidirectional by its parallel connection
Valve 52, from fuel tank, oil suction supplements.Relief valve 55 is connected with both sides oil circuit, when certain pressure exceedes by two check valves 52
When setting pressure, relief valve 55 is opened, and pressure oil is unloaded oil sump tank, plays a protective role hydraulic system.Solenoid directional control valve one
64 and solenoid directional control valve 2 65 must not electricity time be closed, left running motor 67 is played locking effect.
Hoofing part another way of the present invention is, uses movable motor directly to drive walking mechanism after reductor.OK
When walking, left and right movable motor directly drives driving wheel walking after reductor, when needs action, and operation left and right travelling control hands
Handle, computer controller 46 receives signal, and the rotational speed governor 28 of output correspondence instruction to movable motor, rotational speed governor 28 exports
Corresponding electric energy drives driving wheel through reductor to left and right movable motor, left and right movable motor, thus drives left and right walking mechanism,
Carry out forward-reverse and divertical motion.At down hill braking or when needing ramp to stop, reversely drive movable motor due to driving wheel,
Computer controller 46 issues instructions to the rotational speed governor of movable motor, and movable motor transfers to generator operation state, carries out
Generating and braking deceleration, it is achieved energy regenerating.
Enter from the foregoing, it will be observed that the everything of electric excavator of the present invention is all sent numerical control instruction by computer controller 46
OK, all motors use digital servomotor, can be with the rotating cycle of accurate perception motor.For walking motion and back rotation
Make, can be with the speed of Direct digital control walking and distance, the speed of Digital Control revolution and the anglec of rotation.For swing arm
The action of oil cylinder, the rotating cycle of swing arm motor and swing arm pump delivery can digitized accurate perception, thus output is to dynamic
The hydraulic pressure oil mass of arm oil cylinder can accurately calculate, and due to the incompressible characteristic of hydraulic oil, the hydraulic pressure oil mass by output can
Accurately to obtain the stroke of boom cylinder 7, say, that the stroke of each oil cylinder can accurately control by digitized, therefore, originally
Invention can be by inputting program to computer controller, it is achieved automated job, accurately realizes various operation action.It is being equipped with phase
After answering alignment system and range-measurement system, by programme-control, the present invention can realize unmanned automatic job function.
Under normal circumstances, electric excavator of the present invention can be charged in down time, but runs into particular field
Close, it is impossible to when being charged, for guaranteeing work, the present invention is additionally provided with external electromotor and fixes seat 24, can be by one
Diesel-driven generator or gasoline engine generator or natural gas generator are mounted above, and connect charging inlet 25, can fill with limit working edge
Electricity.Owing to electric excavator of the present invention uses motor to drive, capacity usage ratio is more much higher than fuel engines, uses enclosed simultaneously
Hydraulic system, does not has overflow loss and throttling loss, does not has idling to be lost yet, and all recover energy everything, therefore
The energy needed wants much less than existing excavator.Power accumulator 21 is simply charged, not by excavator work by external electromotor
Energy hunting impact when making, such that it is able to generating output under optimum efficiency operating mode.Comprehensive factors above, even if using completely
In the case of external generator charging is operated, electric excavator of the present invention is also fuel-efficient than prior art excavator, and
In hgher efficiency.
All motors of the present invention are digital servomotor, have reverse power generation function.
The walking mechanism of the present invention can also use the walking mechanism of alternate manner, as used wheel type traveling mechanism, by four
Individual movable motor connects reductor, drives four groups of tires to walk.
Hydraulic pump of the present invention is closed type hydraulic pump, and is numerical variable pump, computer control discharge capacity big
Little and direction, has reverse motor function.Being not compressed characteristic owing to hydraulic oil has, the number of turns controlling motor rotation is the most controlled
The flow of hydraulic pump processed output, thus control the stroke of hydraulic cylinder, namely the stroke of hydraulic cylinder is passed through digital servomotor
Digitized.
The present invention uses computer controller to be mainly made up of computer processor, and computer processor is from manipulation device and man-machine boundary
Face receives instruction, the feedback data such as bound site displacement sensor, diastimeter, and after computing, output control instruction gives each motor
With automatically controlled variable pump, fulfil assignment action.Computer controller can carry out intelligence auxiliary and drive, it is also possible to obtained by diastimeter
Surrounding condition, realizes automatic Pilot operation through automatic Pilot program.
Diastimeter of the present invention can be laser range finder, radar induction apparatus, ultrasonic depth finder, image recognition system
Deng, it is arranged on each orientation of body, periphery body form and distance can be sensed, feed back to computer controller.
The present invention, according to job demand, can arrange two groups or plurality of groups of storage batteries.Due to excavator operating characteristic, operation
Time each action carry out constantly the most repeatedly, the present invention needs to reclaim kinetic energy and potential energy, and therefore charging is frequently, it is preferred that configuration is super
Level electric capacity, can frequently discharge and recharge, and when multiple actions are moved simultaneously, it is provided that high-power need for electricity.
Claims (9)
1. a digitized electric hydraulic excavating machine, including walking mechanism, slew gear, swing arm and boom cylinder, dipper and bucket
Rod oil cylinder, scraper bowl and bucket cylinder, it is characterised in that each joystick is electrically connected with the input of computer controller；Revolution
Mechanism is driven by turning motor and rotates, and walking mechanism is walked by movable motor or hydraulic pump drive, boom cylinder, bucket arm cylinder,
Bucket cylinder connects a hydraulic pump respectively, and each hydraulic pump outfan with a motor respectively is connected, and is driven by motor
Hydraulic pump works, the input of each motor outfan with a rotational speed governor respectively is connected, each rotational speed governor defeated
Enter end to be connected with outfan and the accumulator of computer controller simultaneously, provide power supply by accumulator to motor；On each motor
It is separately installed with speed probe, each hydraulic pump is respectively mounted variable controller, the outfan of speed probe and computer control
The input of device processed is connected, and the input of variable controller is connected with the outfan of computer controller, to realize according to electricity
The rotating speed of machine controls the action of hydraulic pump, and computer controller is also simultaneously connected with man machine interface.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that described accumulator and rotational speed governor
The most also it is connected with battery management system, controls accumulator by battery management system and be supplied to the electricity of rotational speed governor.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that boom cylinder, bucket arm cylinder, scraper bowl
Oil cylinder use closed hydraulic loop be connected with hydraulic pump, concrete structure is: between hydraulic pump and oil cylinder pass through oil-feed branch road and
Oil return branch road connect, oil-feed branch road connect oil cylinder rod chamber end, oil return branch road connect oil cylinder rodless cavity end, oil-feed branch road and
Oil return branch road concatenates rod chamber solenoid directional control valve and rodless cavity solenoid directional control valve respectively in the one end by oil cylinder, and rodless cavity electromagnetism changes
It is electrically connected with computer controller to valve and rod chamber solenoid directional control valve；Two it are parallel with between oil-feed branch road and oil return branch road
Road, wherein concatenates two check valves, connects and have relief valve between two check valves, another branch road concatenates two on a branch road
Individual check valve, connects slippage pump and low pressure relief valve between two check valves, slippage pump is connected with hydraulic pump, the import of slippage pump
End and the port of export are separately installed with check valve, concatenate oil extraction solenoid directional control valve between the port of export with oil return branch road；Low pressure relief valve
A two ends little branch road in parallel, this little branch road concatenates a check valve.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that walking mechanism uses Closed Hydraulic to return
Road is connected with hydraulic pump, and concrete structure is: hydraulic pump passes through oil-feed branch road and oil return branch road with the driving motor of walking mechanism
Connecting, two branch roads are serially connected with solenoid directional control valve, the most respectively in the one end near motor between oil-feed branch road and oil return branch road
Joining two branch roads, wherein concatenate two check valves on a branch road, connection safety valve between two check valves, on another branch road
Concatenating two check valves, connect slippage pump and low pressure relief valve between two check valves, slippage pump is connected with hydraulic pump, slippage pump
Entrance point and the port of export be separately installed with check valve, the two ends of a low pressure relief valve little branch road in parallel, this little branch road is gone here and there
Connect a check valve.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that at least install on described slew gear
Having two position sensors, the outfan of position sensor is connected with the input of computer controller, passes through position sensor
Determine the anglec of rotation of excavator.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that the engine body exterior of excavator is provided with
Multiple diastimeters, the outfan of each diastimeter is connected with the input of computer controller.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that be provided with on the body of excavator and fill
Electrical interface and external generator stand, it is simple to charge a battery.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that the motor of employing is digital servo
Motor, has reverse power generation function.
Digitized electric hydraulic excavating machine the most according to claim 1, it is characterised in that the variable used on described hydraulic pump
Controller is numerical variable controller, can be by computer controller digital driving.
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| CN107476364A (en) * | 2017-08-09 | 2017-12-15 | 太原科技大学 | A kind of speed control system with adjustable displacement of hydraulic crawler excavator |
| CN107975090A (en) * | 2017-10-16 | 2018-05-01 | 福建新源重工有限公司 | A kind of electric excavator |
| CN108678064A (en) * | 2018-08-28 | 2018-10-19 | 大连理工江苏研究院有限公司 | The excavator system of Farad capacitors driving |
| CN109664956A (en) * | 2019-02-12 | 2019-04-23 | 沧州科诺机械制造有限公司 | Heavy equipment handling device |
| CN111535377A (en) * | 2020-04-29 | 2020-08-14 | 常州嘉耘机械有限公司 | New forms of energy excavator |
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| CN114704525A (en) * | 2022-04-18 | 2022-07-05 | 太重集团榆次液压工业(济南)有限公司 | Direct-drive volume control electro-hydraulic servo device |
| CN115613650A (en) * | 2022-10-20 | 2023-01-17 | 广西玉柴重工有限公司 | Control method and system for skid-steer loader |
| WO2023226483A1 (en) * | 2022-05-27 | 2023-11-30 | 三一重型装备有限公司 | Travel speed feedback apparatus and intelligent boring machine |
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