CN114715818A - Potential energy recovery system of split type electro-hydraulic drive forklift and split type electro-hydraulic drive forklift - Google Patents
Potential energy recovery system of split type electro-hydraulic drive forklift and split type electro-hydraulic drive forklift Download PDFInfo
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- CN114715818A CN114715818A CN202210444042.9A CN202210444042A CN114715818A CN 114715818 A CN114715818 A CN 114715818A CN 202210444042 A CN202210444042 A CN 202210444042A CN 114715818 A CN114715818 A CN 114715818A
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- 238000011084 recovery Methods 0.000 title claims abstract description 85
- 238000005381 potential energy Methods 0.000 title claims abstract description 35
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 156
- 239000003921 oil Substances 0.000 claims abstract description 113
- 150000001875 compounds Chemical class 0.000 claims description 12
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 229910001416 lithium ion Inorganic materials 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 18
- 238000004064 recycling Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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- 239000002912 waste gas Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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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
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a split type electro-hydraulic drive forklift potential energy recovery system which comprises a lifting oil way, an inclined oil way, a hydraulic drive and energy recovery assembly and an electric drive and energy recovery assembly, wherein the lifting oil way is arranged on the lifting oil way; the lifting oil way comprises a first hydraulic oil cylinder and a second hydraulic oil cylinder, the first hydraulic oil cylinder and the second hydraulic oil cylinder are suitable for communicating fork pieces of a forklift, an electric driving and energy recovery assembly communicates with a hydraulic oil tank, the lifting oil way and an inclined oil way are communicated, the hydraulic driving and energy recovery assembly communicates with the lifting oil way and the inclined oil way, and the inclined oil way comprises an inclined hydraulic oil cylinder suitable for communicating the fork pieces. The invention also provides a split type electro-hydraulic drive forklift, and by the arrangement, the potential energy after lifting can be effectively recovered, and the service life of the forklift is prolonged.
Description
Technical Field
The invention relates to the technical field of hydraulic systems of electric forklifts, in particular to a potential energy recovery system of a split type electro-hydraulic driven forklift and the split type electro-hydraulic driven forklift.
Background
With the rise of economy in China, logistics has become a large industry in China and has been developed greatly. The logistics is comprehensive management integrating modern transportation, storage, transportation, packaging, product circulation and logistics information, and the forklift is rapidly developed as an engineering machine for transportation and transportation. However, the traditional engineering machinery always has labels of noise, waste gas emission, large energy consumption and the like, the electric forklift technology is gradually mature, and good news is brought to people in the aspects of reducing emission and improving environmental problems.
When the existing electric forklift finishes lifting, tilting and steering actions in the working process, potential energy is converted, the potential energy is consumed at a throttle valve port by a traditional hydraulic system, but a large amount of energy loss is caused, the temperature of the hydraulic system is increased, the stability of the hydraulic system during operation is further influenced, the problems of oil leakage, noise, vibration and the like are caused, the reliability of the forklift system and the whole forklift is influenced, and the service life of the hydraulic system is shortened. Therefore, energy recovery is required to be carried out on potential energy, and the potential energy recovery energy-saving technology adopted at present mainly has the following modes: firstly, a hydraulic energy accumulator is adopted to directly store hydraulic oil in an oil return cavity of a lifting oil cylinder to realize hydraulic energy recovery, but in the mode, the speed of the oil cylinder can change along with the pressure change in the hydraulic energy accumulator, so that the controllability is reduced; secondly, potential energy of a lifting weight is converted into electric energy to be stored in a power battery in an electric/power generation-pump/motor mode to realize electric energy recovery, but when the mode is used, the electric energy, the mechanical energy and the hydraulic energy need to be converted for many times, energy loss is increased in the energy conversion process, and when the mode is used, an inclined system cannot normally run in the electric energy recovery process of the lifting system; thirdly, the electric cylinder is adopted to replace the hydraulic cylinder to separate the tilting system and the steering system, but the price of the electric cylinder is far higher than that of the hydraulic cylinder, and the production cost is very high. Therefore, the potential energy recovery of the forklift can not be well carried out by the prior art.
Disclosure of Invention
The invention discloses a potential energy recovery system of a split type electro-hydraulic drive forklift and the split type electro-hydraulic drive forklift, which have the advantages of simple structure and convenience in operation and aim to solve the problems.
The invention adopts the following scheme: a potential energy recovery system of a split type electro-hydraulic drive forklift comprises a lifting oil way, an inclined oil way, a hydraulic drive and energy recovery assembly and an electric drive and energy recovery assembly; wherein,
the lifting oil way comprises a first hydraulic oil cylinder and a second hydraulic oil cylinder, and the first hydraulic oil cylinder and the second hydraulic oil cylinder are suitable for being connected with a fork piece of a forklift and driving the fork piece to move up and down;
the electric driving and energy recovery assembly is connected with the hydraulic oil tank, the lifting oil way and the inclined oil way and is used for inputting and recovering hydraulic oil to the lifting oil way and the inclined oil way;
the hydraulic driving and energy recovery assembly and the electric driving and energy recovery assembly are arranged in parallel, are also connected to the lifting oil way and the inclined oil way, and are used for inputting and recovering hydraulic oil to the lifting oil way and the inclined oil way;
the inclined oil way comprises an inclined hydraulic oil cylinder which is suitable for being connected with the fork piece, and the inclined oil way is configured to be matched with the first hydraulic oil cylinder and the second hydraulic oil cylinder of the lifting oil way to control the movement of the fork piece together.
Further, the electric driving and energy recovering assembly comprises an electric motor-generator, a hydraulic pump-motor, a motor controller and a power supply system; wherein the electric motor-generator and the hydraulic pump-motor are coaxially arranged, the generator and the motor constitute an electrical energy recovery assembly, and the electric motor and the hydraulic pump constitute an electrical driving assembly; the motor-generator is electrically connected with the motor controller, and the motor controller is in communication connection with the power supply system through a CAN.
Further, the power supply system comprises a pre-charging controller, a BMS battery management system and a high-voltage lithium ion battery which are connected in series.
Furthermore, the lifting oil way also comprises a speed limiting valve, a first two-position two-way electromagnetic valve, a first one-way valve and a hydraulic oil tank; the oil outlet of the hydraulic oil tank is communicated with the first one-way valve inlet, the first one-way valve outlet is communicated with the inlet of the hydraulic pump-motor, the hydraulic pump-motor outlet is communicated with the first two-position two-way electromagnetic valve inlet, the first two-position two-way electromagnetic valve outlet is communicated with the speed limiting valve inlet, the speed limiting valve outlet is communicated with rodless cavities of the first hydraulic oil cylinder and the second hydraulic oil cylinder, and rod cavities of the first hydraulic oil cylinder and the second hydraulic oil cylinder are communicated with the oil return port of the hydraulic oil tank.
Furthermore, the speed limiting valve comprises a second one-way valve, a pressure reducing valve and a throttle valve, and the second one-way valve is connected with the pressure reducing valve in parallel through a pipeline; the speed limiting valve is configured as follows: when the lifting oil way is descended, the hydraulic oil is transmitted to the first two-position two-way electromagnetic valve through the pressure reducing valve and the throttle valve.
Furthermore, the inclined oil way comprises a second two-position two-way electromagnetic valve, a three-position four-way valve, an inclined hydraulic oil cylinder and a hydraulic oil tank; the inlet of the second two-position two-way solenoid valve is communicated with a first bypass port led out by a pipeline between the outlet of the hydraulic pump and the motor and the inlet of the first two-position two-way solenoid valve, the outlet of the second two-position two-way solenoid valve is communicated with a first port of the three-position four-way valve, a second port of the three-position four-way valve is communicated with a rod cavity of the inclined hydraulic oil cylinder, a rodless cavity of the inclined hydraulic oil cylinder is communicated with a third port of the three-position four-way valve, and a fourth port of the three-position four-way valve is communicated with an oil return port of the hydraulic oil tank.
Furthermore, the hydraulic driving and energy recovery assembly comprises a third one-way valve, a third two-position two-way electromagnetic valve, a hydraulic accumulator and a fourth two-position two-way electromagnetic valve; the inlet of the third check valve is communicated with a second bypass interface led out by a pipeline between the outlet of the second two-position two-way electromagnetic valve and a first interface of the three-position four-way valve, the outlet of the third check valve is communicated with the inlet of the third two-position two-way electromagnetic valve, the outlet of the third two-position two-way electromagnetic valve is communicated with the hydraulic accumulator, the inlet of the fourth two-position two-way electromagnetic valve is communicated with a third bypass interface led out by a pipeline between the outlet of the third check valve and the inlet of the third two-position two-way electromagnetic valve, and the outlet of the fourth two-position two-way electromagnetic valve is communicated with a fourth bypass interface led out by a pipeline between the outlet of the first check valve and the inlet of the hydraulic pump-motor.
Furthermore, a first overflow valve is arranged in the lifting oil way, an inlet of the first overflow valve is communicated with a fifth bypass interface led out by a pipeline between an outlet of the hydraulic pump and the motor and the first bypass interface, and an outlet of the first overflow valve is communicated with an oil return port of the hydraulic oil tank; and a second overflow valve is arranged in the hydraulic driving and recovering assembly, the inlet of the second overflow valve is communicated with a sixth bypass interface led out by a pipeline between the outlet of the third two-position two-way electromagnetic valve and the inlet of the hydraulic accumulator, and the outlet of the second overflow valve is communicated with an oil return port of the hydraulic oil tank.
Further, the lifting oil way and the inclined oil way are arranged in parallel.
The invention also provides a compound type electro-hydraulic driving forklift, which comprises a fork piece and any one of the compound type electro-hydraulic driving forklift potential energy recovery systems, wherein a first hydraulic rod oil cylinder, a second hydraulic oil cylinder and a push rod of an inclined hydraulic oil cylinder of the compound type electro-hydraulic driving forklift potential energy recovery system are connected with the fork piece and are configured to drive the fork piece to move up and down and rotate obliquely.
By adopting the technical scheme, the invention can obtain the following technical effects: on the basis of realizing an electric driving and potential energy recovery integrated energy-saving system by combining an electric motor-generator and a hydraulic pump-motor, a hydraulic energy accumulator is introduced to realize an energy-saving technology of hydraulic driving and energy recovery, and the energy recovery capability of the hydraulic system of the electric forklift is further improved; the oil circuit under each working condition is separated by the two-position two-way electromagnetic valve, so that the hydraulic oil is definitely conveyed to the corresponding execution part, and the loss of the oil energy on the oil circuit is reduced. Meanwhile, the hydraulic accumulator supplies oil to enable the inclined system to have enough hydraulic oil supply when the lifting system recovers potential energy, and composite action is realized; electro-hydraulic combined driving and energy recovery overcome the defects of large oil energy loss, high temperature rise and the like of a hydraulic system of a traditional electric forklift, solve the problem that a tilting system cannot operate in the electric energy recovery process, improve the controllability of the electric forklift and the stability of the hydraulic system, further realize the electromotion and intellectualization of the traditional forklift and meet the requirements of energy conservation and emission reduction of the country more.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a potential energy recovery system of a compound type electro-hydraulic driven forklift of an embodiment of the invention;
icon: the hydraulic control system comprises a lifting oil way E, an inclined oil way F, a hydraulic driving and energy recovery assembly C, an electric driving and energy recovery assembly D, a hydraulic oil tank 1, a first one-way valve 2, a power supply system 3, a motor controller 4, a motor-generator 5, a hydraulic pump-motor 6, a first overflow valve 7, a first two-position two-way electromagnetic valve 8, a speed limiting valve 9, a first hydraulic oil cylinder 10, a second hydraulic oil cylinder 11, a second two-position two-way electromagnetic valve 12, a three-position four-way valve 13, an inclined hydraulic oil cylinder 14, a third one-way valve 15, a third two-position two-way electromagnetic valve 16, a second overflow valve 17, a hydraulic energy accumulator 18 and a fourth two-position two-way electromagnetic valve 19.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Examples
With reference to fig. 1, the embodiment provides a split type electro-hydraulic forklift, which includes a fork member and a split type electro-hydraulic forklift potential energy recovery system, wherein push rods of a first hydraulic cylinder 10, a second hydraulic cylinder 11 and an inclined hydraulic cylinder 14 of the split type electro-hydraulic forklift potential energy recovery system are connected to the fork member and configured to drive the fork member to move up and down and rotate in an inclined manner. The potential energy recovery system of the split type electro-hydraulic drive forklift comprises a lifting oil way E, an inclined oil way F, a hydraulic drive and energy recovery assembly C and an electric drive and energy recovery assembly D; the lifting oil way E comprises a first hydraulic oil cylinder 10 and a second hydraulic oil cylinder 11, and the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 are suitable for being connected with a fork piece of a forklift and drive the fork piece to move up and down; the electric driving and energy recovery assembly D is connected with the hydraulic oil tank 1, the lifting oil way E and the inclined oil way F, and is used for conveying hydraulic oil in the hydraulic oil tank 1 to the lifting oil way E, driving the hydraulic oil cylinder to move and recovering the hydraulic oil; the hydraulic driving and energy recovery assembly C is connected with the lifting oil way E and the inclined oil way F and is used for driving the lifting oil way E and the inclined oil way F and recovering hydraulic oil; the inclined oil path F comprises an inclined hydraulic oil cylinder 14 suitable for being connected with the fork piece, and the inclined oil path F is configured to be matched with the lifting oil path E and control the movement of the fork piece.
In this embodiment, the hydraulic cylinder includes a rod cavity and a rodless cavity, and when hydraulic oil is input into the rodless cavity, the hydraulic cylinder can push a push rod of the hydraulic cylinder to move upward. The lifting oil circuit E and the inclined oil circuit F are arranged in parallel, so that the lifting oil circuit E and the inclined oil circuit F can simultaneously control the inclined lifting of the fork member and can also independently and respectively control the lifting or the inclined movement.
In the present embodiment, the electric drive and energy recovery assembly D includes an electric motor-generator 5, a hydraulic pump-motor 6, a motor controller 4, and a power supply system 3; wherein the motor controller 4 (M/GCU), the electric motor-generator 5 and the hydraulic pump-motor 6 are coaxially arranged, the generator and the motor constitute an electric energy recovery assembly, and the electric motor and the hydraulic pump constitute an electric drive assembly; the motor-generator 5 is electrically connected with the motor controller, and the motor controller 4 is in communication connection with a power supply system through a CAN. And the power supply system 3 comprises a pre-charging controller, a BMS battery management system and a high-voltage lithium ion battery which are connected in series. Here, the motor-generator 5 and the hydraulic pump-motor 6 are coupled together, respectively.
The lifting oil circuit E also comprises a speed limiting valve 9, a first two-position two-way electromagnetic valve 8, a first one-way valve 2 and a hydraulic oil tank 1; the oil outlet of the hydraulic oil tank 1 is communicated with the inlet of the first check valve 2, the outlet of the first check valve 2 is communicated with the inlet of the hydraulic pump-motor 6, the outlet of the hydraulic pump-motor 6 is communicated with the inlet of the first two-position two-way electromagnetic valve 8, the outlet of the first two-position two-way electromagnetic valve 8 is communicated with the inlet of the speed limiting valve 9, the outlet of the speed limiting valve 9 is communicated with the rodless cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11, and the rod cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 are communicated with the oil return port of the hydraulic oil tank 1.
The speed limiting valve 9 comprises a second one-way valve, a pressure reducing valve and a throttle valve, and the second one-way valve is connected with the pressure reducing valve in parallel through a pipeline; the speed limiting valve 9 is configured as follows: when the lifting oil way E rises, hydraulic oil is transmitted to the rodless cavities of the first hydraulic oil cylinder 10 and the second lifting hydraulic oil cylinder through the second one-way valve, and when the lifting oil way E falls, hydraulic oil is transmitted to the first two-position two-way electromagnetic valve 8 through the pressure reducing valve and the throttle valve. The speed limiting valve is used for controlling the speed of hydraulic oil, so that the speed of the fork piece can be controlled.
The inclined oil way F comprises a second two-position two-way electromagnetic valve 12, a three-position four-way valve 13, an inclined hydraulic oil cylinder 14 and a hydraulic oil tank 1; the inlet of the second two-position two-way solenoid valve 12 is communicated with a first bypass port led out by a pipeline between the outlet of the hydraulic pump-motor 6 and the inlet of the first two-position two-way solenoid valve 8, the outlet of the second two-position two-way solenoid valve 12 is communicated with a first port P of the three-position four-way valve 13, a second port A of the three-position four-way valve 13 is communicated with a rod cavity of the inclined hydraulic oil cylinder 14, a rodless cavity of the inclined hydraulic oil cylinder 14 is communicated with a third port B of the three-position four-way valve 13, and a fourth port T of the three-position four-way valve 13 is communicated with an oil return port of the hydraulic oil tank 1.
The hydraulic driving and energy recovering component C comprises a third one-way valve 15, a third two-position two-way electromagnetic valve 16, a hydraulic energy accumulator 18 and a fourth two-position two-way electromagnetic valve 19; the inlet of the third check valve 15 is communicated with a second bypass port led out by a pipeline between the outlet of the second two-position two-way solenoid valve 12 and a first port of the three-position four-way valve 13, the outlet of the third check valve 15 is communicated with the inlet of the third two-position two-way solenoid valve 16, the outlet of the third two-position two-way solenoid valve 16 is communicated with the hydraulic accumulator 18, the inlet of the fourth two-position two-way solenoid valve 19 is communicated with a third bypass port led out by a pipeline between the outlet of the third check valve 15 and the inlet of the third two-position two-way solenoid valve 16, and the outlet of the fourth two-position two-way solenoid valve 19 is communicated with a fourth bypass port led out by a pipeline between the outlet of the first check valve 2 and the inlet of the hydraulic pump-motor 6.
A first overflow valve 7 is arranged in the lifting oil way E, an inlet of the first overflow valve 7 is communicated with a fifth bypass interface led out by a pipeline between an outlet of the hydraulic pump-motor 6 and the first bypass interface, and an outlet of the first overflow valve 7 is communicated with an oil return port of the hydraulic oil tank 1; and a second overflow valve 17 is arranged in the hydraulic driving and recovering assembly, the inlet of the second overflow valve 17 is communicated with a sixth bypass interface led out by a pipeline between the outlet of the third two-position two-way electromagnetic valve 16 and the inlet of the hydraulic energy accumulator 18, and the outlet of the second overflow valve 17 is communicated with an oil return port of the hydraulic oil tank 1.
The working principle of the invention is as follows:
firstly, when the electric forklift is lifted independently:
1. when the load of the lifting system rises:
(1) the hydraulic accumulator 18 is in a non-pressure state, no matter no load, light load or heavy load, at this time, the hydraulic driving and energy recovery component C cannot supply oil, and is driven by the electric driving and energy recovery component D alone. The first two-position two-way solenoid valve 8 is in a right-position conducting state. Hydraulic oil is transmitted to a first hydraulic oil cylinder 10 and a second hydraulic oil cylinder 11 rodless cavity from a hydraulic oil tank 1 through a first one-way valve 2, a hydraulic pump-motor 6, a first two-position two-way electromagnetic valve 8 and a speed limiting valve 9 to complete lifting.
(2) The hydraulic accumulator 18 is under pressure whether empty, lightly loaded or heavily loaded.
a. The lifting speed meets the requirement, and the lifting is driven by the hydraulic driving and energy recovery component C independently. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil is transmitted to the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 from the hydraulic accumulator 18 through the third two-position two-way electromagnetic valve 16, the fourth two-position two-way electromagnetic valve 19, the hydraulic pump-motor 6, the first two-position two-way electromagnetic valve 8 and the speed limiting valve 9 to complete the lifting action.
b. The lifting speed does not meet the requirement, and the electric driving and energy recovery D and the hydraulic driving and energy recovery component C are driven in a combined mode. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil is transmitted to the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 from the hydraulic accumulator 18 through the third two-position two-way electromagnetic valve 16, the fourth two-position two-way electromagnetic valve 19, the hydraulic pump-motor 6, the first two-position two-way electromagnetic valve 8 and the speed limiting valve 9 to complete the lifting action. At this time, the motor-generator 5 compensates along with the change of the lifting speed, drives the hydraulic pump-motor 6 to realize the regulation and control of the lifting speed, and simultaneously supplements oil supply.
2. When the load of the lifting system is lowered:
(1) the hydraulic accumulator 18 is in a non-pressure state, no matter no load, light load or heavy load, and the hydraulic driving and energy recovery component C is used for recovering energy independently. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil in the rodless cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 is transmitted to a hydraulic accumulator 18 for recycling through a speed limiting valve 9, a first two-position two-way electromagnetic valve 8, a hydraulic pump-motor 6, a fourth two-position two-way electromagnetic valve 19 and a third two-position two-way electromagnetic valve 16.
(2) The hydraulic accumulator 18 is under pressure.
a. When the load is heavy, the electric driving and energy recovery D and the hydraulic driving and energy recovery component C are combined to recover energy. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil in the rodless cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 is transmitted to a hydraulic energy accumulator 18 for recycling through a speed limiting valve 9, a first two-position two-way electromagnetic valve 8, a hydraulic pump-motor 6, a fourth two-position two-way electromagnetic valve 19 and a third two-position two-way electromagnetic valve 16. At this time, the hydraulic pump-motor 6 drives the motor-generator 5 to rotate reversely to recover partial potential energy.
b. When the vehicle is in no-load or light-load, the hydraulic driving and energy recovery component C is used for recovering energy independently. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil in the rodless cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 is transmitted to a hydraulic accumulator 18 for recycling through a speed limiting valve 9, a first two-position two-way electromagnetic valve 8, a hydraulic pump-motor 6, a fourth two-position two-way electromagnetic valve 19 and a third two-position two-way electromagnetic valve 16. The control of the lowering speed is now effected by the motor-generator 5.
Secondly, when the electric forklift independently inclines:
1. the hydraulic accumulator 18 is in a non-pressure state, no matter no load, light load or heavy load, at this time, the hydraulic driving and energy recovery assembly C cannot supply oil, and is driven by the electric driving and energy recovery assembly D alone. The second two-position two-way electromagnetic valve 12 is in an upper conduction state. The hydraulic oil is transmitted to the tilting hydraulic oil cylinder 14 from the hydraulic oil tank 1 through the first check valve 2, the hydraulic pump-motor 6, the second two-position two-way electromagnetic valve 12 and the three-position four-way valve 13 to complete the tilting action. When the three-position four-way valve 13 is in the right position when the hydraulic oil tank tilts forwards, a port P of the three-position four-way valve is connected with a port B to transmit oil to a rodless cavity of the inclined hydraulic oil cylinder 14, and a port T of the three-position four-way valve is connected with a port A to transmit the oil in a rod cavity of the inclined hydraulic oil cylinder 14 to the hydraulic oil tank 1; when the hydraulic cylinder tilts backwards, the port P is connected with the port A to transmit oil to a rod cavity of the inclined hydraulic cylinder 14, and the port T is connected with the port B to transmit the oil in a rodless cavity of the inclined hydraulic cylinder 14 to the hydraulic oil tank 1.
2. The hydraulic accumulator 18 is under pressure, no matter no load, light load or heavy load, and is driven by the hydraulic driving and energy recovering assembly C alone.
a. When the pressure at the inlet end of the third check valve 15 is greater than the pressure at the outlet end, the second two-position two-way solenoid valve 12 is in an upper conduction state, the third two-position two-way solenoid valve 16 is in a right conduction state, and the fourth two-position two-way solenoid valve 19 is in an upper conduction state. The hydraulic oil is transmitted from the energy accumulator 18 to the tilting hydraulic cylinder 14 through the third two-position two-way solenoid valve 12, the fourth two-position two-way solenoid valve 19, the hydraulic pump-motor 6, the second two-position two-way solenoid valve 12 and the three-position four-way valve 13 to complete the tilting action. The forward tilting or backward tilting is controlled by switching the position of a three-position four-way valve 13.
b. When the pressure at the inlet end of the third check valve 15 is lower than the pressure at the outlet end, the third two-position two-way electromagnetic valve 16 is in a right-position conducting state. The hydraulic oil is transmitted from the energy accumulator 18 to the tilting hydraulic cylinder 14 through the third two-position two-way solenoid valve 16, the third check valve 15 and the three-position four-way valve 13 to complete the tilting action. The forward tilting or backward tilting is controlled by switching the position of a three-position four-way valve 13.
Thirdly, when the electric forklift is lifted and inclined to operate in a combined mode:
1. when the load of the lifting system rises:
(1) the hydraulic accumulator 18 is in a non-pressure state, no matter no load, light load or heavy load, at this time, the hydraulic driving and energy recovery assembly C cannot supply oil, and is driven by the electric driving and energy recovery assembly D alone. The first two-position two-way solenoid valve 8 is in a right-position conducting state, and the second two-position two-way solenoid valve 12 is in an upper-position conducting state. Hydraulic oil is transmitted to a rodless cavity of a first hydraulic oil cylinder 10 and a second hydraulic oil cylinder 11 from a hydraulic oil tank 1 through a first one-way valve 2, a hydraulic pump-motor 6, a first two-position two-way electromagnetic valve 8 and a speed limiting valve 9 to complete lifting action; the signal is transmitted to a tilting hydraulic oil cylinder 14 through a bypass via a second two-position two-way electromagnetic valve 12 and a three-position four-way valve 13 to complete the tilting action. The forward tilting or backward tilting is controlled by switching the position of a three-position four-way valve 13.
(2) The hydraulic accumulator 18 is under pressure whether empty, lightly loaded or heavily loaded.
a. When the pressure at the inlet end of the third check valve 15 is greater than the pressure at the outlet end, the electric driving and energy recovery assembly D and the hydraulic driving and energy recovery assembly C are driven in a combined manner. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the second two-position two-way solenoid valve 12 is in an upper-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil is transmitted to the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 from the hydraulic accumulator 18 through the third two-position two-way electromagnetic valve 16, the fourth two-position two-way electromagnetic valve 19, the hydraulic pump-motor 6, the first two-position two-way electromagnetic valve 8 and the speed limiting valve 9 to complete the lifting action. The signal is transmitted to a tilting hydraulic oil cylinder 14 through a bypass via a second two-position two-way electromagnetic valve 12 and a three-position four-way valve 13 to complete the tilting action. The forward tilting or backward tilting is regulated by switching the position of the three-position four-way valve 13, and the motor-generator 5 realizes the regulation of the composite action speed and supplements oil supply at the same time.
b. When the pressure at the inlet end of the third check valve 15 is smaller than the pressure at the outlet end, the hydraulic driving and energy recovery assembly C is used for driving the third check valve alone. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil is transmitted to the tilting hydraulic oil cylinder 14 from the hydraulic accumulator 18 through the third two-position two-way solenoid valve 16, the third check valve 15 and the three-position four-way valve 13 to complete the tilting action. The forward tilting or backward tilting is controlled by switching the position of a three-position four-way valve 13. The hydraulic oil is transmitted to the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 from the hydraulic accumulator 18 through the third two-position two-way electromagnetic valve 16, the fourth two-position two-way electromagnetic valve 19, the hydraulic pump-motor 6, the first two-position two-way electromagnetic valve 8 and the speed limiting valve 9 to complete the lifting action.
2. When the load of the lifting system is lowered:
(1) the hydraulic accumulator 18 is in a non-pressurized state, no matter no load, light load or heavy load, and energy is recovered by the hydraulic driving and energy recovering assembly C alone. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil in the rodless cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 is transmitted to the inclined hydraulic oil cylinder through the speed limiting valve 9, the first two-position two-way electromagnetic valve 8, the second two-position two-way electromagnetic valve 12 and the three-position four-way valve 13 to finish the inclination action. The forward tilting or backward tilting is controlled by switching the position of a three-position four-way valve 13. The redundant hydraulic oil is transmitted to the hydraulic accumulator 18 for recycling through the hydraulic pump-motor 6, the fourth two-position two-way electromagnetic valve 19 and the third two-position two-way electromagnetic valve 16.
(2) The hydraulic accumulator 18 is under pressure whether empty, lightly loaded or heavily loaded.
a. When the pressure at the inlet end of the third check valve 15 is higher than the pressure at the outlet end, the hydraulic driving and energy recovery assembly C is used for energy recovery alone. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the second two-position two-way solenoid valve 12 is in an upper-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil in the rodless cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 is transmitted to the inclined hydraulic oil cylinder through the speed limiting valve 9, the first two-position two-way electromagnetic valve 8, the second two-position two-way electromagnetic valve 12 and the three-position four-way valve 13 to finish the inclination action. The forward tilting or backward tilting is controlled by switching the position of a three-position four-way valve 13. The redundant hydraulic oil is transmitted to the hydraulic accumulator 18 for recycling through the hydraulic pump-motor 6, the fourth two-position two-way electromagnetic valve 19 and the third two-position two-way electromagnetic valve 16.
b. When the pressure at the inlet end of the third check valve 15 is smaller than the pressure at the outlet end, the hydraulic driving and energy recovery assembly C recovers energy independently. The first two-position two-way solenoid valve 8 is in a right-position conducting state, the third two-position two-way solenoid valve 16 is in a right-position conducting state, and the fourth two-position two-way solenoid valve 19 is in an upper-position conducting state. The hydraulic oil in the rodless cavities of the first hydraulic oil cylinder 10 and the second hydraulic oil cylinder 11 is transmitted to the inclined hydraulic oil cylinder through a speed-limiting valve 9, a first two-position two-way electromagnetic valve 8, a hydraulic pump-motor 6, a fourth two-position two-way electromagnetic valve 19, a third one-way valve 15 and a three-position four-way valve 13 to finish the inclination action. The forward tilting or backward tilting is controlled by switching the position of a three-position four-way valve 13. The redundant hydraulic oil is transmitted to the hydraulic accumulator 18 for recycling through the third two-position two-way electromagnetic valve 16.
On the basis that the electric driving and potential energy recovery integrated energy-saving system is realized by the motor-generator 5 and the hydraulic pump-motor 6 together, the hydraulic energy accumulator 18 is introduced to realize the energy-saving technology of hydraulic driving and energy recovery, so that the energy recovery capability of the hydraulic system of the electric forklift is further improved; the oil circuit under each working condition is separated by the two-position two-way electromagnetic valve, so that the hydraulic oil is definitely conveyed to the corresponding execution part, and the loss of the oil energy on the oil circuit is reduced. Meanwhile, the hydraulic accumulator 18 supplies oil to enable the inclined system to have enough hydraulic oil supply when the lifting system recovers potential energy, and composite action is realized; electro-hydraulic combined driving and energy recovery overcome the defects of large oil energy loss, high temperature rise and the like of a hydraulic system of a traditional electric forklift, solve the problem that a tilting system cannot operate in the electric energy recovery process, improve the controllability of the electric forklift and the stability of the hydraulic system, further realize the electromotion and intellectualization of the traditional forklift and meet the requirements of energy conservation and emission reduction of the country more.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.
Claims (10)
1. A potential energy recovery system of a split type electro-hydraulic drive forklift is characterized by comprising a lifting oil way, an inclined oil way, a hydraulic drive and energy recovery assembly and an electric drive and energy recovery assembly; wherein,
the lifting oil way comprises a first hydraulic oil cylinder and a second hydraulic oil cylinder, and the first hydraulic oil cylinder and the second hydraulic oil cylinder are suitable for being connected with a fork piece of a forklift and driving the fork piece to move up and down;
the electric driving and energy recovery assembly is connected with the hydraulic oil tank, the lifting oil way and the inclined oil way and is used for inputting and recovering hydraulic oil to the lifting oil way and the inclined oil way;
the hydraulic driving and energy recovery assembly and the electric driving and energy recovery assembly are arranged in parallel, are also connected to the lifting oil way and the inclined oil way, and are used for inputting and recovering hydraulic oil to and from the lifting oil way and the inclined oil way;
the inclined oil way comprises an inclined hydraulic oil cylinder which is suitable for being connected with the fork piece, and the inclined oil way is configured to be matched with the first hydraulic oil cylinder and the second hydraulic oil cylinder of the lifting oil way to control the movement of the fork piece together.
2. The compound electro-hydraulic driven forklift potential energy recovery system of claim 1, wherein the electrical drive and energy recovery assembly comprises an electric motor-generator, a hydraulic pump-motor, a motor controller, a power supply system; wherein the electric motor-generator and the hydraulic pump-motor are coaxially arranged, the generator and the motor constitute an electrical energy recovery assembly, and the electric motor and the hydraulic pump constitute an electrical driving assembly; the motor-generator is electrically connected with the motor controller, and the motor controller is in communication connection with the power supply system through a CAN.
3. The compound electro-hydraulic driven forklift potential energy recovery system according to claim 2, wherein the power supply system comprises a pre-charge controller, a BMS battery management system and a high-voltage lithium ion battery which are arranged in series.
4. The compound type electro-hydraulic driven forklift potential energy recovery system according to claim 1, wherein the lifting oil way further comprises a speed limiting valve, a first two-position two-way electromagnetic valve, a first one-way valve and a hydraulic oil tank; the oil outlet of the hydraulic oil tank is communicated with the first one-way valve inlet, the first one-way valve outlet is communicated with the inlet of the hydraulic pump-motor, the hydraulic pump-motor outlet is communicated with the first two-position two-way electromagnetic valve inlet, the first two-position two-way electromagnetic valve outlet is communicated with the speed limiting valve inlet, the speed limiting valve outlet is communicated with rodless cavities of the first hydraulic oil cylinder and the second hydraulic oil cylinder, and rod cavities of the first hydraulic oil cylinder and the second hydraulic oil cylinder are communicated with the oil return port of the hydraulic oil tank.
5. The compound electro-hydraulic driven forklift potential energy recovery system according to claim 4, wherein the speed limiting valve comprises a second one-way valve, a pressure reducing valve and a throttle valve, and the second one-way valve is connected with the pressure reducing valve in parallel through a pipeline; the speed limiting valve is configured as follows: when the lifting oil way descends, the hydraulic oil is transmitted to the first two-position two-way electromagnetic valve through the pressure reducing valve and the throttle valve.
6. The compound type electro-hydraulic driven forklift potential energy recovery system according to claim 4, wherein the inclined oil path comprises a second two-position two-way solenoid valve, a three-position four-way valve, an inclined hydraulic oil cylinder and a hydraulic oil tank; the inlet of the second two-position two-way solenoid valve is communicated with a first bypass port led out by a pipeline between the outlet of the hydraulic motor and the inlet of the first two-position two-way solenoid valve, the outlet of the second two-position two-way solenoid valve is communicated with a first port of the three-position four-way valve, a second port of the three-position four-way valve is communicated with a rod cavity of the inclined hydraulic oil cylinder, a rodless cavity of the inclined hydraulic oil cylinder is communicated with a third port of the three-position four-way valve, and a fourth port of the three-position four-way valve is communicated with an oil return port of the hydraulic oil tank.
7. The compound electrohydraulic driven forklift potential energy recovery system of claim 6, wherein the hydraulic driving and energy recovery assembly comprises a third one-way valve, a third two-position two-way solenoid valve, a hydraulic accumulator and a fourth two-position two-way solenoid valve; the inlet of the third check valve is communicated with a second bypass interface led out by a pipeline between the outlet of the second two-position two-way electromagnetic valve and a first interface of the three-position four-way valve, the outlet of the third check valve is communicated with the inlet of the third two-position two-way electromagnetic valve, the outlet of the third two-position two-way electromagnetic valve is communicated with the hydraulic accumulator, the inlet of the fourth two-position two-way electromagnetic valve is communicated with a third bypass interface led out by a pipeline between the outlet of the third check valve and the inlet of the third two-position two-way electromagnetic valve, and the outlet of the fourth two-position two-way electromagnetic valve is communicated with a fourth bypass interface led out by a pipeline between the outlet of the first check valve and the inlet of the hydraulic pump-motor.
8. The potential energy recovery system of the compound type electro-hydraulic driven forklift as claimed in claim 7, wherein a first overflow valve is arranged in the lifting oil way, an inlet of the first overflow valve is communicated with a fifth bypass interface led out by a pipeline between an outlet of the hydraulic pump-motor and the first bypass interface, and an outlet of the first overflow valve is communicated with an oil return port of the hydraulic oil tank; and a second overflow valve is arranged in the hydraulic driving and recovering assembly, the inlet of the second overflow valve is communicated with a sixth bypass interface led out by a pipeline between the outlet of the third two-position two-way electromagnetic valve and the inlet of the hydraulic accumulator, and the outlet of the second overflow valve is communicated with an oil return port of the hydraulic oil tank.
9. The compound electrohydraulic driven forklift potential energy recovery system of claim 1, wherein the lift oil path is arranged in parallel with the inclined oil path.
10. A split type electro-hydraulic driven forklift comprising a fork member, and further comprising a split type electro-hydraulic driven forklift potential energy recovery system according to any one of claims 1 to 9, wherein the push rods of the first hydraulic rod cylinder, the second hydraulic cylinder and the tilt hydraulic cylinder of the split type electro-hydraulic driven forklift potential energy recovery system are connected with the fork member and configured to drive the fork member to move up and down and to tilt and rotate.
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| CN113148914A (en) * | 2021-01-29 | 2021-07-23 | 华侨大学 | Forklift potential energy recovery and release integrated device and working method |
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Application publication date: 20220708 Assignee: FUJIAN SOUTHCHINA MACHINERY MANUFACTURE CO.,LTD. Assignor: HUAQIAO University Contract record no.: X2024980000374 Denomination of invention: The potential energy recovery system of split and compound electro-hydraulic drive forklifts and split and compound electro-hydraulic drive forklifts Granted publication date: 20230516 License type: Exclusive License Record date: 20240123 |