CN113404730B - Steering system of electric loader based on hydraulic accumulator and variable motor - Google Patents
Steering system of electric loader based on hydraulic accumulator and variable motor Download PDFInfo
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- CN113404730B CN113404730B CN202110873067.6A CN202110873067A CN113404730B CN 113404730 B CN113404730 B CN 113404730B CN 202110873067 A CN202110873067 A CN 202110873067A CN 113404730 B CN113404730 B CN 113404730B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/04—Accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
- F15B11/036—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force by means of servomotors having a plurality of working chambers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/023—Excess flow valves, e.g. for locking cylinders in case of hose burst
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a steering system of an electric loader based on a hydraulic energy accumulator and a variable motor, which comprises an oil tank, a first one-way valve, a power supply, a motor controller, a motor, a variable pump, a variable motor, an electronic steering wheel, a shaft angle encoder, an electric control unit, a second one-way valve, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a first overflow valve, a fourth electromagnetic reversing valve, a third one-way valve, a hydraulic energy storage, a fifth electromagnetic reversing valve, a fourth one-way valve, a second overflow valve, a fifth one-way valve, a sixth reversing valve, a displacement sensor, a left steering cylinder, a right steering cylinder, a first pressure sensor, a second pressure sensor and the like. According to the invention, the hydraulic energy on the oil return path can be recovered through the variable motor and is directly used for driving the variable pump, so that the energy conversion times are reduced, the energy recovery efficiency is improved, the electric energy consumption of the motor is reduced, and the working efficiency and the safety performance of the loader are improved.
Description
Technical Field
The invention relates to a hydraulic control system with the characteristic of electrohydraulic control technology, in particular to a steering system of an electric loader based on a hydraulic accumulator and a variable motor.
Background
With the current situation of energy shortage and environmental pollution becoming more serious, the problems of high energy consumption and high emission of engineering machinery are increasingly prominent, and the problems of emission and power consumption of the loader, which is used as an engineering machinery with very wide application, are more and more emphasized. The loader is mainly used for loading and transferring bulk materials, the steering system has a large load change range and changes frequently in the working process, and a large amount of overflow loss can be caused, so that the reduction of energy loss in the steering system of the loader is an important way for improving the energy-saving performance of the loader.
In recent years, energy recovery mechanisms have begun to be used in loaders, but the conversion routes of energy recovery systems, such as motor-electric machine-capacitor-electric machine-pump, have been converted many times, and there has been a great deal of energy loss in the case of interconversion of electric energy and hydraulic energy, which has resulted in the occurrence of a situation where recovery efficiency is low.
Disclosure of Invention
In view of the above, the present invention addresses the deficiencies of the prior art by providing a steering system for an electric loader based on a hydraulic accumulator and a variable motor.
In order to achieve the above purpose, the invention provides a steering system of an electric loader based on a hydraulic accumulator and a variable motor, which comprises an oil tank, a first one-way valve, a power supply, a motor controller, an electric motor, a variable pump, a variable motor, an electronic steering wheel, a shaft angle encoder, an electric control unit, a second one-way valve, a first electromagnetic directional valve, a second electromagnetic directional valve, a third electromagnetic directional valve, a first overflow valve, a fourth electromagnetic directional valve, a third one-way valve, a hydraulic energy storage, a fifth electromagnetic directional valve, a fourth one-way valve, a second overflow valve, a fifth one-way valve, a sixth directional valve, a displacement sensor, a left steering cylinder, a right steering cylinder, a first pressure sensor and a second pressure sensor;
the motor, the variable pump and the variable motor are coaxially and mechanically connected; an oil outlet of the variable pump is connected with an oil inlet of the second one-way valve, an oil inlet of the variable pump is connected with an oil outlet of the first one-way valve, and an oil inlet of the first one-way valve is connected with the oil tank; an oil outlet of the second one-way valve is respectively connected with an oil inlet of the first overflow valve and a P port of the fourth electromagnetic directional valve; the oil outlet of the first overflow valve is connected with the oil tank; the T port of the fourth electromagnetic directional valve is connected with the A port of the first electromagnetic directional valve; the T port of the first electromagnetic directional valve is connected with the oil tank, and the B port of the first electromagnetic directional valve is respectively connected with the oil inlet of the variable motor and the B port of the second electromagnetic directional valve; the oil outlet of the variable motor is connected with the oil tank; the port A of the fourth electromagnetic directional valve is respectively connected with the port C of the sixth electromagnetic directional valve, the rodless cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder, and the port B of the fourth electromagnetic directional valve is respectively connected with the port D of the sixth electromagnetic directional valve, the rod-free cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder; the port B of the sixth electromagnetic directional valve is connected with the oil inlet of the third one-way valve, the port A of the sixth electromagnetic directional valve is connected with the oil outlet of the fifth one-way valve, and the oil inlet of the fifth one-way valve is connected with the oil tank; the port A of the fifth electromagnetic directional valve is respectively connected with the oil outlet of the third one-way valve, the oil inlet of the fourth one-way valve, the oil inlet of the second overflow valve and the hydraulic accumulator, and the port B of the fifth electromagnetic directional valve is respectively connected with the oil outlet of the second overflow valve and the oil tank; the oil outlet of the fourth one-way valve is connected with the port A of the second electromagnetic directional valve; the motor is connected with a power supply through a motor controller; the electric control unit is electrically connected with the motor controller, the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve and the sixth electromagnetic directional valve; the shaft angle encoder, the displacement sensor, the first pressure sensor and the second pressure sensor for detecting the electronic steering wheel are all in electric signal connection with the electric control unit; the first pressure sensor is connected with the rod cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder, and the second pressure sensor is connected with the rod-free cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder;
as an improvement of the invention, the power supply is a storage battery.
As an improvement of the invention, an oil outlet of a fourth one-way valve connected with an A port of the second electromagnetic directional valve is also connected with an A port of a third electromagnetic directional valve, and a B port of the third electromagnetic directional valve is connected with an oil inlet of the variable pump connected with an oil outlet of the first one-way valve.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the invention provides a steering system of an electric loader based on a hydraulic energy accumulator and a variable motor, which is characterized in that a variable motor which is coaxially and mechanically connected with a motor and a variable pump is added on an oil return oil way of the steering system, the variable motor is utilized to retract hydraulic energy on the oil way back and forth, torque is directly provided for the variable pump, links of energy conversion are reduced, the energy conversion efficiency is improved, and the consumption power of the motor is further reduced.
2. The invention provides a steering system of an electric loader based on a hydraulic energy accumulator and a variable motor, which recovers overflow loss caused by external load action during non-steering operation of the traditional steering system through the hydraulic energy accumulator, is used for improving the oil inlet pressure of a variable pump and an emergency energy source for driving the variable pump when a motor fails, reduces the electric energy consumption of the motor and improves the working efficiency and the safety performance of the loader.
Drawings
FIG. 1 is a schematic diagram of a steering system of an electric loader based on a hydraulic accumulator and a variable motor according to the present invention;
the attached drawings are used for identifying and describing:
1. oil tank 2, first check valve
3. Power supply 4 and motor controller
5. Motor 6, variable displacement pump
7. Variable motor 8, electronic steering wheel
9. Shaft angle encoder 10 and electronic control unit
11. Second one-way valve 12, first electromagnetic directional valve
13. Second electromagnetic directional valve 14, third electromagnetic directional valve
15. First overflow valve 16, fourth electromagnetic directional valve
17. Third one-way valve 18, hydraulic accumulator
19. Fifth electromagnetic directional valve 20, fourth one-way valve
21. Second overflow valve 22, fifth check valve
23. Sixth electromagnetic directional valve 24 and displacement sensor
25. Left steering cylinder 26, right steering cylinder
27. First pressure sensor 28, second pressure sensor
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," configured to, "" engaged with, "" connected to, "and the like are to be construed broadly, and may be, for example," connected to, "wall-mounted," connected to, removably connected to, or integrally connected to, mechanically connected to, electrically connected to, directly connected to, or indirectly connected to, through an intermediary, and may be in communication with each other between two elements, as will be apparent to those of ordinary skill in the art, in view of the detailed description of the terms herein.
Referring to fig. 1, the specific structure of the preferred embodiment of the present invention is shown, which comprises an oil tank 1, a first check valve 2, a power supply 3, a motor controller 4, an electric motor 5, a variable pump 6, a variable motor 7, an electronic steering wheel 8, a shaft encoder 9, an electric control unit 10, a second check valve 11, a first electromagnetic directional valve 12, a second electromagnetic directional valve 13, a third electromagnetic directional valve 14, a first relief valve 15, a fourth electromagnetic directional valve 16, a third check valve 17, a hydraulic accumulator 18, a fifth electromagnetic directional valve 19, a fourth check valve 20, a second relief valve 21, a fifth check valve 22, a sixth electromagnetic directional valve 23, a displacement sensor 24, a left steering cylinder 25, a right steering cylinder 26, a first pressure sensor 27, and a second pressure sensor 28; wherein:
the motor 5, the variable pump 6 and the variable motor 7 are coaxially and mechanically connected; the oil outlet of the variable pump 6 is connected with the oil inlet of the second one-way valve 11, the oil inlet of the variable pump 6 is connected with the oil outlet of the first one-way valve 2, and the oil inlet of the first one-way valve 2 is connected with the oil tank 1; the oil outlet of the second one-way valve 11 is respectively connected with the oil inlet of the first overflow valve 15 and the P port of the fourth electromagnetic directional valve 16; the oil outlet of the first overflow valve 15 is connected with the oil tank 1; the T port of the fourth electromagnetic directional valve 16 is connected with the A port of the first electromagnetic directional valve 12; the T port of the first electromagnetic directional valve 12 is connected with the oil tank 1, and the B port of the first electromagnetic directional valve 12 is respectively connected with the oil inlet of the variable motor 7 and the B port of the second electromagnetic directional valve 13; the oil outlet of the variable motor 7 is connected with the oil tank 1; the port A of the fourth electromagnetic directional valve 16 is respectively connected with the port C of the sixth electromagnetic directional valve 23, the rodless cavity of the left steering cylinder 25 and the rod-free cavity of the right steering cylinder 26, and the port B of the fourth electromagnetic directional valve 16 is respectively connected with the port D of the sixth electromagnetic directional valve 23, the rod-free cavity of the left steering cylinder 25 and the rod-free cavity of the right steering cylinder 26; the port B of the sixth electromagnetic directional valve 23 is connected with the oil inlet of the third one-way valve 17, the port A of the sixth electromagnetic directional valve 23 is connected with the oil outlet of the fifth one-way valve 22, and the oil inlet of the fifth one-way valve 22 is connected with the oil tank 1; the port A of the fifth electromagnetic directional valve 19 is respectively connected with the oil outlet of the third one-way valve 17, the oil inlet of the fourth one-way valve 20, the oil inlet of the second overflow valve 21 and the hydraulic accumulator 18, and the port B of the fifth electromagnetic directional valve 19 is respectively connected with the oil outlet of the second overflow valve 21 and the oil tank 1; the oil outlet of the fourth one-way valve 20 is connected with the port A of the second electromagnetic directional valve 13; the motor 5 is connected with the power supply 1 through the motor controller 4; the electric control unit 10 is electrically connected with the motor controller 4, the first electromagnetic directional valve 12, the second electromagnetic directional valve 13, the third electromagnetic directional valve 14, the fourth electromagnetic directional valve 16, the fifth electromagnetic directional valve 19 and the sixth electromagnetic directional valve 23; the shaft angle encoder 9, the displacement sensor 24, the first pressure sensor 27 and the second pressure sensor 28 for detecting the rotation angle of the electronic steering wheel 8 are all electrically connected with the electronic control unit 10; the first pressure sensor 27 is connected to the rod-less chamber of the left steering cylinder 25 and the rod-less chamber of the right steering cylinder 26, and the second pressure sensor 28 is connected to the rod-less chamber of the left steering cylinder 25 and the rod-less chamber of the right steering cylinder 26.
In this embodiment, the power supply 3 employs a battery.
The steering system is connected with oil paths except for mechanical connection and electric signal connection.
In this embodiment, in order to improve the working performance of the variable pump 6, the oil outlet of the fourth check valve 20 connected with the opening of the second electromagnetic directional valve 13A is further connected with the opening a of the third electromagnetic directional valve 14, and the opening B of the third electromagnetic directional valve 14 is connected with the oil inlet of the variable pump 6 connected with the oil outlet of the first check valve 2.
In the working process, the hydraulic accumulator 18 is used as a high-pressure oil source, and the stored hydraulic pressure is directly released to the oil inlet of the variable pump 6, so that the pressure of the oil inlet of the variable pump 6 is increased, namely the oil pressure difference between the inlet and the outlet of the variable pump 6 is reduced, and the torque output of the motor is reduced. The first one-way valve 2 can ensure that the high-pressure oil released by the hydraulic accumulator flows to a certain direction, so that the high-pressure oil cannot flow back to the oil tank.
In this embodiment, when the electronic steering wheel 8 rotates, the shaft encoder 9 collects the rotation angle signal of the electronic steering wheel 8 and transmits the rotation angle signal to the electronic control unit 10, the displacement sensor 24 also synchronously transmits the displacement signal of the steering cylinder to the electronic control unit 10, and the electronic control unit 10 converts the transmitted rotation angle signal and displacement signal in real time, and controls the power-on and power-off states of the electromagnet of the fourth electromagnetic directional valve 16 according to the difference value of the rotation angle signal and the displacement signal. When the electronic steering wheel 8 is rotated leftwards and the difference value is not zero, the left electromagnet of the fourth electromagnetic directional valve 16 is powered on, the right electromagnet is not powered off, at the moment, the fourth electromagnetic directional valve 16 works at the left position, the piston rod of the left steering cylinder 25 is retracted, the piston rod of the right steering cylinder 26 is extended, and the loader turns leftwards; when the electronic steering wheel 8 is rotated rightward and the difference value is not zero, the right electromagnet of the fourth electromagnetic directional valve 16 is powered on, the left electromagnet is powered off, at the moment, the fourth electromagnetic directional valve 16 works at the right position, the piston rod of the left steering cylinder 25 extends, the piston rod of the right steering cylinder 26 retracts, and the loader turns right; when the difference value between the rotation angle signal and the displacement signal transmitted by the electronic control unit 10 in real time is zero, the left electromagnet and the right electromagnet of the fourth electromagnetic directional valve 16 are simultaneously powered off, and at the moment, the valve core of the fourth electromagnetic directional valve 16 returns to the middle position, and the loader stops steering. Meanwhile, the electronic control unit 10 controls the displacement of the variable pump 6 according to the rotating speed of the electronic steering wheel 8, so that the steering state of the whole vehicle follows the rotating state of the electronic steering wheel 8, and the energy conservation and the operability of the system are improved. And the electric control unit 10 sends a control signal to the first electromagnetic directional valve 12 to control the power-on and power-off states of the electromagnet of the first electromagnetic directional valve 12, the electromagnet of the first electromagnetic directional valve 12 is powered on, so that the oil return liquid directly returns to the oil tank, the electromagnet of the first electromagnetic directional valve 12 is powered off, the oil return liquid passes through the variable motor 7, and meanwhile, the electric control unit 10 controls the output power of the variable motor 7 by controlling the displacement of the variable motor 7.
In this embodiment, when the left and right electromagnets of the fourth electromagnetic directional valve 16 are powered on, that is, the spool of the fourth electromagnetic directional valve is not in the neutral position, the left and right electromagnets of the sixth electromagnetic directional valve 23 will be in the power-off state, and the highest safety pressure of the steering system is controlled by the first overflow valve 15; when the left and right electromagnets of the fourth electromagnetic directional valve 16 are in a power-off state, that is, the valve cores are in the middle position, the electric control unit 10 collects pressure signals of rod cavities and rodless cavities of the left steering cylinder 25 and the right steering cylinder 26 through the first pressure sensor 27 and the second pressure sensor 28, and controls power obtaining and power losing of the left and right electromagnets of the sixth electromagnetic directional valve 26 through comparison with the set highest system safety pressure. When the oil pressure detected by the first pressure sensor 27 is higher than the highest safety pressure of the system, the electromagnet on the right side of the sixth electromagnetic directional valve 23 is powered on, the port C is communicated with the port A, the port D is communicated with the port B, high-pressure oil of the rod cavity of the left steering cylinder 25 and the rod-free cavity of the right steering cylinder 26 is stored in the hydraulic accumulator 18 through the oil path D-B of the sixth electromagnetic directional valve 23 and the third one-way valve 17, and the rod-free cavity of the left steering cylinder 25 and the rod-free cavity of the right steering cylinder 26 obtain supplementary oil from the oil tank 1 through the fifth one-way valve 22 and the oil path A-B of the sixth electromagnetic directional valve 23; when the oil pressure detected by the second pressure sensor 28 is higher than the highest safety pressure of the system, the left electromagnet of the sixth electromagnetic directional valve 23 is electrified, the port C is communicated with the port B, the port D is communicated with the port A, high-pressure oil of the rodless cavity of the left steering cylinder 25 and the rod cavity of the right steering cylinder 26 is stored in the hydraulic accumulator 18 through the oil path C-B of the sixth electromagnetic directional valve 23 and the third one-way valve 17, and the rod cavity of the left steering cylinder 25 and the rodless cavity of the right steering cylinder 26 are supplied with oil from the oil tank 1 through the fifth one-way valve 22 and the oil paths A-D of the sixth electromagnetic directional valve 23. While a second relief valve 21 connected to the hydraulic accumulator 18 is used to define the maximum charge pressure of the hydraulic accumulator 18, and a fifth electromagnetic directional valve 19 connected to the hydraulic accumulator 18 is used for unloading the high-pressure oil of the hydraulic accumulator.
In this embodiment, when the motor 5 fails, i.e. the variable pump 6 loses power, the electronic control unit 10 controls the electromagnet of the second electromagnetic directional valve 13 to be powered on, the port a of the second electromagnetic directional valve is communicated with the port B, at this time, the hydraulic accumulator 18 is used as an emergency power source, and high-pressure oil passes through the fourth check valve 20 and the oil path a-B of the second electromagnetic directional valve 13 to drive the variable motor 7 to rotate, so as to drive the variable pump 6 to work, thereby realizing steering in an emergency state.
The foregoing is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any person skilled in the art will be able to make insubstantial modifications of the present invention within the scope of the present invention disclosed herein by this concept, which falls within the actions of invading the protection scope of the present invention.
Claims (4)
1. The steering system of the electric loader based on the hydraulic accumulator and the variable motor is characterized by comprising an oil tank, a first one-way valve, a power supply, a motor controller, a motor, a variable pump, a variable motor, an electronic steering wheel, a shaft angle encoder, an electric control unit, a second one-way valve, a first electromagnetic directional valve, a second electromagnetic directional valve, a third electromagnetic directional valve, a first overflow valve, a fourth electromagnetic directional valve, a third one-way valve, a hydraulic accumulator, a fifth electromagnetic directional valve, a fourth one-way valve, a second overflow valve, a fifth one-way valve, a sixth electromagnetic directional valve, a displacement sensor, a left steering cylinder, a right steering cylinder, a first pressure sensor and a second pressure sensor;
the motor, the variable pump and the variable motor are coaxially and mechanically connected; an oil outlet of the variable pump is connected with an oil inlet of the second one-way valve, an oil inlet of the variable pump is connected with an oil outlet of the first one-way valve, and an oil inlet of the first one-way valve is connected with the oil tank; an oil outlet of the second one-way valve is respectively connected with an oil inlet of the first overflow valve and a P port of the fourth electromagnetic directional valve; the oil outlet of the first overflow valve is connected with the oil tank; the T port of the fourth electromagnetic directional valve is connected with the A port of the first electromagnetic directional valve; the T port of the first electromagnetic directional valve is connected with the oil tank, and the B port of the first electromagnetic directional valve is respectively connected with the oil inlet of the variable motor and the B port of the second electromagnetic directional valve; the oil outlet of the variable motor is connected with the oil tank; the port A of the fourth electromagnetic directional valve is respectively connected with the port C of the sixth electromagnetic directional valve, the rodless cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder, and the port B of the fourth electromagnetic directional valve is respectively connected with the port D of the sixth electromagnetic directional valve, the rod-free cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder; the port B of the sixth electromagnetic directional valve is connected with the oil inlet of the third one-way valve, the port A of the sixth electromagnetic directional valve is connected with the oil outlet of the fifth one-way valve, and the oil inlet of the fifth one-way valve is connected with the oil tank; the port A of the fifth electromagnetic directional valve is respectively connected with the oil outlet of the third one-way valve, the oil inlet of the fourth one-way valve, the oil inlet of the second overflow valve and the hydraulic accumulator, and the port B of the fifth electromagnetic directional valve is respectively connected with the oil outlet of the second overflow valve and the oil tank; the oil outlet of the fourth one-way valve is connected with the port A of the second electromagnetic directional valve; the motor is connected with a power supply through a motor controller; the electric control unit is electrically connected with the motor controller, the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve and the sixth electromagnetic directional valve; the shaft angle encoder, the displacement sensor, the first pressure sensor and the second pressure sensor for detecting the electronic steering wheel are all in electric signal connection with the electric control unit; the first pressure sensor is connected with the rod cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder, and the second pressure sensor is connected with the rod-free cavity of the left steering cylinder and the rod cavity of the right steering cylinder.
2. The steering system of an electric loader based on a hydraulic accumulator and a variable motor of claim 1, wherein the power source is a battery.
3. A steering system for an electric loader based on a hydraulic accumulator and variable displacement motor as claimed in claim 1 wherein the other connections than the mechanical, electrical and electrical connections are all oil connections.
4. The steering system of the electric loader based on the hydraulic accumulator and the variable motor according to claim 1, wherein an oil outlet of a fourth one-way valve connected with an A port of the second electromagnetic directional valve is also connected with an A port of a third electromagnetic directional valve, and a B port of the third electromagnetic directional valve is connected with an oil inlet of the variable pump connected with an oil outlet of the first one-way valve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110873067.6A CN113404730B (en) | 2021-07-30 | 2021-07-30 | Steering system of electric loader based on hydraulic accumulator and variable motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110873067.6A CN113404730B (en) | 2021-07-30 | 2021-07-30 | Steering system of electric loader based on hydraulic accumulator and variable motor |
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| CN113404730A CN113404730A (en) | 2021-09-17 |
| CN113404730B true CN113404730B (en) | 2023-05-05 |
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| CN202110873067.6A Active CN113404730B (en) | 2021-07-30 | 2021-07-30 | Steering system of electric loader based on hydraulic accumulator and variable motor |
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| CN113942574B (en) * | 2021-11-04 | 2023-04-18 | 湖北三江航天万山特种车辆有限公司 | Centering system and vehicle |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201288722Y (en) * | 2008-10-31 | 2009-08-12 | 浙江大学 | Energy recovery system of mixed power mechanical actuator |
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| CN113404730A (en) | 2021-09-17 |
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