CN106013312B - Complete electrically driven (operated) hydraulic crawler excavator dynamical system - Google Patents
Complete electrically driven (operated) hydraulic crawler excavator dynamical system Download PDFInfo
- Publication number
- CN106013312B CN106013312B CN201610406357.9A CN201610406357A CN106013312B CN 106013312 B CN106013312 B CN 106013312B CN 201610406357 A CN201610406357 A CN 201610406357A CN 106013312 B CN106013312 B CN 106013312B
- Authority
- CN
- China
- Prior art keywords
- control
- hydraulic
- hydraulic actuator
- frequency converter
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
-
- 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
Landscapes
- 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 present invention relates to a kind of complete electrically driven (operated) hydraulic crawler excavator dynamical systems, including hydraulic actuator, two-way quantitative pumps, servo motor, frequency converter, controller, clutch controller, the clutch controller receives plug-in pattern or battery mode power supply signal, the controller receives the signal of each hydraulic actuator speed of control that driver is inputted by handle, and calculate the control signal of each hydraulic actuator, it is transferred to frequency converter again, frequency converter takes electricity by clutch controller from plug-in pattern or battery mode, it is converted to the voltage of each servo motor connected to it, to control the rotating speed size of each servo motor and rotary speed direction, so as to control the size and Orientation of the output flow of two-way quantitative connected to it pump, it is finally completed the speed control to each hydraulic actuator.The present widely applied internal combustion engine of present invention removal, continues the high power advantage of hydraulic system, and uses volumetric void fraction mode, has reached energy saving and emission reduction effective integration.
Description
Technical field
The present invention relates to a kind of excavator dynamical systems, and in particular to a kind of dynamical system of complete electrically driven (operated) hydraulic crawler excavator
System.
Background technology
In recent years, under the background persistently aggravated in energy shortage and problem of environmental pollution, in the prevalence of efficiency it is low,
The hydraulic system of the poor shortcoming of discharge, which carries out energy-saving and emission-reduction research, has become hot spot.Although existing hydraulic system power-economizing method is carrying
Play an important role in terms of high efficiency, but still have the shortcomings that it is obvious, for example, by using internal combustion engine as active force
Source is still extensive configuration mode, this also just determines solution " zero that all can not be basic using which kind of energy-saving and emission-reduction method
The problem of pollution ".At the same time, have with the high efficiency and electric system of the diversity of electricity-generating method and generating efficiency
No pollution advantage so that if by electrokinetic technique incorporate excavator system will essence solution pollution problem.But
Since the special operation condition of excavator determines that the Hydraulic Elements for needing high power density are driven, so present invention incorporates electricity
The advantage of Force system and hydraulic system, it is proposed that a kind of complete electrically driven (operated) hydraulic crawler excavator dynamical system, so as to eliminate now
Widely applied internal combustion engine, and continued the high power advantage of hydraulic system, and use volumetric void fraction mode, theoretically eliminate
Restriction loss has reached energy saving and effective integration of emission reduction.
Invention content
The present invention is to provide for a kind of complete electrically driven (operated) hydraulic crawler excavator dynamical system, removes widely applied internal combustion now
Machine continues the high power advantage of hydraulic system, and uses volumetric void fraction mode, has reached energy saving and emission reduction effective integration.
To achieve the above object, the technical scheme is that：A kind of complete electrically driven (operated) hydraulic crawler excavator dynamical system, packet
Include hydraulic actuator, two-way quantitative pump, servo motor, frequency converter, controller, clutch controller, it is characterised in that：It is described from
Hop controller receives plug-in pattern or battery mode power supply signal, and the controller receives the control that driver is inputted by handle
The signal of each hydraulic actuator speed, and the control signal of each hydraulic actuator is calculated, then be transferred to frequency converter,
Frequency converter takes electricity by clutch controller from plug-in pattern or battery mode, is converted to the electricity of each servo motor connected to it
Pressure, to control the rotating speed size of each servo motor and rotary speed direction, so as to defeated two-way quantitative connected to it to be controlled to pump
The size and Orientation of outflow is finally completed the speed control to each hydraulic actuator.
The hydraulic actuator includes running motor, bucket arm cylinder, bucket cylinder, the running motor and dipper oil
Cylinder or running motor connect same set of two-way quantitative pump and servo motor with bucket cylinder by switching valve group, pass through switching
Valve group carries out between running motor and bucket arm cylinder or the switching control between running motor and bucket cylinder.
Multiple servo motor axises are connected together or are arranged near each hydraulic actuator.
The controller inputs to the control signal of frequency converter, and voltage, frequency converter are controlled in modules respectively in order to control
The rotating speed of servo motor and direction, to realize the control to hydraulic actuator.
The bucket arm cylinder and bucket cylinder are single rod symmetrical hydraulic cylinder, realize the balance of two chamber flow of hydraulic cylinder.
The beneficial effects of the invention are as follows：
1. using main source of energy of the electric energy as dynamical system, so as to eliminate traditional internal combustion engine, reach " zero-emission, zero
The target of pollution ".
The source that 2. clutch controller is set in invention can switch electric energy is direct plug-in or is carried by excavator
Battery is powered in short term.So as to expand application range.
3. each hydraulic actuator makes modular structure so that each executive component can be individually operated,
It is independent of each other.Due to eliminating engine so that complete machine arrangement is more flexible, and multiple servo motors can be connected together with axis,
It can also be arranged near each executive component.
4 .Controlled quentity controlled variable is to input to the control voltage of frequency converter, and frequency converter controls the rotating speed of the motor of modules respectively
And direction, to realize the control to executive component.So as to remain the advantage of hydraulic system high power density.
5. substitute single rod asymmetrical cylinder using single rod symmetrical hydraulic cylinder, solve that two chamber flows are unbalanced to ask
Topic.Conventional method solves the problems, such as that flow is unbalanced using the method for a pair of of hydraulic control one-way valve in parallel, but due to hydraulic control list
Response to valve is slower, causes control effect bad, proposes to compensate for this shortcoming using symmetrical hydraulic cylinder in the present invention, can pole
Big is reduced in schematic diagram for the opening times of the hydraulic control one-way valve of repairing.So that control is more convenient, accurate.
Description of the drawings
Fig. 1 is complete electrically driven (operated) hydraulic crawler excavator dynamical system figure of the present invention.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of complete electrically driven (operated) hydraulic crawler excavator dynamical system, including hydraulic actuator, two-way quantitative
Pump 2, servo motor 1, low pressure accumulator 4, frequency converter, controller, clutch controller.
Hydraulic actuator include first and second group of switching valve group 7,8, hydraulically-controlled one-way valve 3, first and second running motor 9,10,
The symmetrical oil cylinder 11 of dipper, the symmetrical oil cylinder 12 of scraper bowl, the symmetrical oil cylinder 6 of swing arm, rotary motor 5 etc..
Clutch controller receives plug-in pattern or battery mode power supply signal, and the controller receives driver and passes through handle
The signal of each hydraulic actuator speed of control of input, and the control signal of each hydraulic actuator is calculated, then pass
Defeated to arrive frequency converter, frequency converter takes electricity from plug-in pattern or battery mode by clutch controller, is converted to connected to it each
The voltage of servo motor, to control the rotating speed size of each servo motor and rotary speed direction, so as to connected to it double to control
To the size and Orientation of the output flow of constant displacement pump, it is finally completed the speed control to each hydraulic actuator.It is multiple described
Servo motor axis is connected together or is arranged near each hydraulic actuator.
Controller inputs to the control signal of frequency converter, and voltage, frequency converter control the servo in modules respectively in order to control
The rotating speed of motor and direction, to realize the control to hydraulic actuator.
Multiple servo motor axises are connected together or are arranged near each hydraulic actuator.
The groundwork process of the present invention is that driver selects plug-in pattern or battery mode according to actual conditions first
(wherein plug-in pattern refers to is directly fed by power cord, battery mode refers to charged the battery by power cord after supplied by battery
Electricity), and determine powering mode to clutch for clutch control signal；Then driver passes through each executive component speed of handle input control
Signal, controller calculate the control signal of each executive component, then are transferred to frequency converter, frequency converter by clutch controller from
Plug-in or battery mode take electricity, are converted to the voltage of each servo motor connected to it, to control turning for each servo motor
Fast size and rotary speed direction so as to control the size and Orientation of the output flow of constant displacement pump connected to it, are finally completed pair
The speed control of each hydraulic actuator.
It moves during in view of running motor with dipper and scraper bowl difference, in order to save cost, employs and Chinese patent
Switching valve group identical CN201310322449.5 switches over control, i.e., using the side of same set of servo motor combination constant displacement pump
Formula is to the first running motor 9 and the symmetrical oil cylinder 11 of dipper（Or second running motor 10 and the symmetrical oil cylinder 12 of scraper bowl）It switches over
Control.
Claims (5)
1. a kind of complete electrically driven (operated) hydraulic crawler excavator dynamical system, including hydraulic actuator, two-way quantitative pump, servo motor,
Frequency converter, controller, clutch controller, it is characterised in that：The clutch controller receives plug-in pattern or battery mode power supply
Signal, the controller receives the signal of each hydraulic actuator speed of control that driver is inputted by handle, and calculates
Go out the control signal of each hydraulic actuator, then be transferred to frequency converter, frequency converter by clutch controller from plug-in pattern or
Battery mode takes electricity, is converted to the voltage of each servo motor connected to it, to control the rotating speed size of each servo motor
And rotary speed direction, so as to control the size and Orientation of the output flow of two-way quantitative connected to it pump, it is finally completed to each
The speed control of a hydraulic actuator.
2. complete electrically driven (operated) hydraulic crawler excavator dynamical system according to claim 1, it is characterised in that：The hydraulic pressure performs
Element includes the first running motor, the second running motor, bucket arm cylinder, bucket cylinder, first running motor and dipper oil
Cylinder or the second running motor connect same set of two-way quantitative pump and servo motor with bucket cylinder by switching valve group, pass through
Switching valve group carries out between the first running motor and bucket arm cylinder or the switching control between the second running motor and bucket cylinder
System.
3. complete electrically driven (operated) hydraulic crawler excavator dynamical system according to claim 1, it is characterised in that：Multiple servos
Motor axis is connected together or is arranged near each hydraulic actuator.
4. complete electrically driven (operated) hydraulic crawler excavator dynamical system according to claim 1, it is characterised in that：The controller is defeated
Voltage, frequency converter control rotating speed and the side of the servo motor in modules to the control signal for entering to frequency converter respectively in order to control
To realize the control to hydraulic actuator.
5. complete electrically driven (operated) hydraulic crawler excavator dynamical system according to claim 2, it is characterised in that：The bucket arm cylinder
It is single rod symmetrical hydraulic cylinder with bucket cylinder, realizes the balance of two chamber flow of hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406357.9A CN106013312B (en) | 2016-06-12 | 2016-06-12 | Complete electrically driven (operated) hydraulic crawler excavator dynamical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406357.9A CN106013312B (en) | 2016-06-12 | 2016-06-12 | Complete electrically driven (operated) hydraulic crawler excavator dynamical system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106013312A CN106013312A (en) | 2016-10-12 |
| CN106013312B true CN106013312B (en) | 2018-06-29 |
Family
ID=57090939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610406357.9A Active CN106013312B (en) | 2016-06-12 | 2016-06-12 | Complete electrically driven (operated) hydraulic crawler excavator dynamical system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106013312B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108468358A (en) * | 2018-03-15 | 2018-08-31 | 福建工程学院 | The excavator and its dynamical system of distributed hydraulic-driven |
| CN112065823A (en) * | 2020-11-10 | 2020-12-11 | 英轩重工有限公司 | Hydraulic system and engineering machinery |
| CN113309158A (en) * | 2021-06-22 | 2021-08-27 | 山东临工工程机械有限公司 | Quantitative control system and method for quantitative system of electric excavator |
| CN113502871B (en) * | 2021-07-30 | 2022-07-29 | 华侨大学 | Loader steering system based on motor-pump/motor |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02107802A (en) * | 1988-08-31 | 1990-04-19 | Hitachi Constr Mach Co Ltd | Hydraulic driving device |
| DE202009004071U1 (en) * | 2009-03-23 | 2010-08-12 | Liebherr-France Sas, Colmar | Drive for a hydraulic excavator |
| US9151019B2 (en) * | 2009-09-15 | 2015-10-06 | Sumitomo Heavy Industries, Ltd. | Hybrid type construction machine |
| CN103184751B (en) * | 2011-12-30 | 2015-10-14 | 中国科学院沈阳自动化研究所 | A kind of all-electric servo excavator |
| CN103510564A (en) * | 2012-06-26 | 2014-01-15 | 山重建机有限公司 | Device for controlling constant power of excavator |
-
2016
- 2016-06-12 CN CN201610406357.9A patent/CN106013312B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106013312A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106013312B (en) | Complete electrically driven (operated) hydraulic crawler excavator dynamical system | |
| CN104196080B (en) | Variable speed volume directly drives pure electric hydraulic crawler excavator and drives and energy-recuperation system | |
| CN105839689B (en) | The more motor hydraulic excavating mechanical electronic hydraulic hybrid drive systems of multiple-energy-source and control method | |
| CN103080430B (en) | Hybrid construction machine | |
| CN107420384B (en) | System is used in the storage of lifting device gravitional force P-V | |
| KR101378249B1 (en) | Hybrid construction machine | |
| CN106274444B (en) | Engineering machinery mixed connection dynamical system | |
| CN103348065B (en) | Hybrid construction machine | |
| CN108755794B (en) | Hydraulic excavator based on hydraulic-electric composite drive | |
| CN103255790B (en) | Electric hydraulic excavator sharing direct-current bus | |
| CN106223393B (en) | A kind of digitlization electric hydraulic excavating machine | |
| JP4396906B2 (en) | Hybrid excavator | |
| CN102418354A (en) | Pump/motor-based parallel-series hybrid hydraulic excavator driving system | |
| CN106284478B (en) | A kind of electric balancing cylinder potential energy recovery system | |
| CN103362171B (en) | Hydraulic hybrid power excavator hydraulic system with switching control function | |
| CN205617466U (en) | Multipotency source many motors hydraulic shovel electricity liquid hybrid -driven system | |
| CN104196067A (en) | Energy recovery system of variable-speed variable-capacity direct-driven all-electric hydraulic excavator with independent chambers | |
| CN102888876A (en) | Energy regeneration structure of excavator and excavator | |
| CN108533546A (en) | It is directly driven using double pump and the hydraulic crawler excavator dynamical system of the automatic changing-over of differential F.F. | |
| CN107503395A (en) | Throttling volume directly drives compound oil inlet and outlet independent control electrohydraulic system | |
| CN109267599A (en) | The excavator dynamical system that distributed two parallel pumps directly drive | |
| CN103437392B (en) | Hybrid power hydraulic excavator system and using method | |
| CN103452150B (en) | Hybrid power hydraulic excavator system adopting movable arm closed control | |
| CN107524187A (en) | Rotary motion braking energy liquid electricity mixing recycling system | |
| CN108799258A (en) | A kind of swing arm energy-recuperation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |