CN113152574B - Excavator movable arm energy-saving device based on sliding pair and gas energy storage and working method - Google Patents
Excavator movable arm energy-saving device based on sliding pair and gas energy storage and working method Download PDFInfo
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- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
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Abstract
An excavator movable arm energy-saving device and a working method based on sliding pairs and gas energy storage are suitable for an excavator. The hydraulic sliding device is arranged between a movable arm of the excavator and the upper rotary table, and the rope winding convex plate is arranged at the tail part of the upper rotary table; the hydraulic sliding device comprises a sliding rail and an air cylinder which are arranged on a movable arm of the excavator, a sliding block is arranged on the sliding rail, a cylinder body of the air cylinder is hinged with the upper rotary table, a piston rod is hinged with the sliding block, and a piston cylinder of the air cylinder is connected with an air bottle through an air pipe; and a steel wire rope connected with each other is arranged between the rope winding convex plate and the sliding block. The hybrid power unit has the advantages of simple structure, convenience in implementation and low cost, and avoids complicated energy conversion and transmission links of the hybrid power unit without additionally adding a hydraulic element and an electric control system.
Description
Technical Field
The invention relates to an excavator movable arm energy-saving device based on a sliding pair and gas energy storage and a working method, which are particularly suitable for hydraulic engineering and belong to the field of hydraulic transmission and control.
Background
As an important engineering machine, a hydraulic excavator has the advantages of strong mining capability, good environmental adaptability and the like, and is widely applied to many fields such as industrial production, transportation, mining, infrastructure construction and the like.
With the increasing strictness of the national emission standards of engineering machinery, the disadvantage of low energy utilization efficiency of the hydraulic excavator draws wide attention. Only about 20% of the power output by a conventional hydraulic excavator engine is converted into useful work, with losses on the hydraulic system reaching 53%. Taking a movable arm of a hydraulic excavator as an example, because the working device has large mass, a large amount of potential energy needs to be released in the lowering process, and the energy is consumed at a throttling port of the hydraulic valve and converted into heat energy, so that the energy waste and the oil heating are caused, and the service life of a hydraulic element is shortened.
There is a similar problem of energy waste in 4 main actions of a boom, an arm, a bucket, and a swing of a hydraulic excavator, and the specific weight occupied by the boom is at the maximum, about 51%. Therefore, the research on recycling of the boom-lowering potential energy of the excavator is an important step for improving the efficiency of the excavator, and has important significance for energy conservation, emission reduction and environmental protection.
For the recovery of the potential energy of the movable arm of the excavator, hydraulic and electrical recovery is generally adopted, but the existing methods greatly change the original system, a hydraulic element and an electric control system are additionally added, the process is complex, the operability is low, the cost is high, and the practical application of the method is limited to a certain extent.
The movable arm of the hydraulic excavator is frequently lifted and dropped in the operation process, in a system without a potential energy recovery device, the potential energy of the movable arm can be converted into heat energy at a throttle valve port to be dissipated, resources are wasted, the oil temperature is increased, a high-power radiator needs to be additionally added, and the installation cost of the excavator is increased. In order to improve the energy utilization efficiency of a hydraulic excavator and reduce the problems of energy consumption and environmental pollution, the invention provides an energy-saving device for recovering and recycling the potential energy of a movable arm of the excavator based on sliding pairs and gas energy storage, wherein a steel wire rope is wound and separated along the profile surface of a rope winding convex plate, the motion track of a hinged point of a cylinder and a sliding block is changed, and when the movable arm descends, the torque generated by the cylinder is slightly smaller than the torque generated by gravity; when the movable arm rises, the torque generated by the cylinder can reach the magnitude of fully releasing the internal energy of gas molecules, so that the movable arm of the power-assisted excavator can normally carry out lifting operation, and finally the descending potential energy of the movable arm can be recycled and reused to the maximum extent. At present, most researches on the descending potential energy of the movable arm are concentrated on two aspects of hydraulic type and electrical type energy recovery, the two aspects have respective defects, the descending potential energy of the movable arm is stored in a hydraulic energy accumulator in a hydraulic energy mode by a hydraulic type energy recovery system, the original hydraulic system is greatly changed in the whole process, and the existing hydraulic energy accumulator has the problems of low energy storage density, so that the existing hydraulic energy accumulator is large in size and low in reliability; the problems of complex equipment and high cost of the electric energy recovery system exist, the application of the recovery scheme in practice is limited due to the high cost of the electric energy storage element and the generator, and the utilization rate of energy recovery is reduced due to the repeated conversion of mechanical energy, pressure energy and electric energy.
Disclosure of Invention
Aiming at the defects of the technology, the excavator movable arm energy-saving device and the excavator movable arm energy-saving method based on the sliding pair and the gas energy storage are simple in structure, convenient to implement, low in cost, free of additional hydraulic elements and electric control systems, capable of avoiding complex energy conversion and transmission links of a hybrid power unit, and small in loss of hydraulic oil when a throttling valve port and a pipeline flow through.
In order to achieve the technical purpose, the excavator movable arm energy-saving device based on the sliding pair and the gas energy storage comprises a hydraulic sliding device arranged between a movable arm and an upper rotary table of an excavator, and a rope winding convex plate arranged at the tail part of the upper rotary table; the hydraulic sliding device comprises a sliding rail and an air cylinder which are arranged on a movable arm of the excavator, a sliding block is arranged on the sliding rail, a cylinder body of the air cylinder is hinged with the upper rotary table, a piston rod is hinged with the sliding block, and a piston cylinder of the air cylinder is connected with an air bottle through an air pipe; the rope winding convex plate is provided with a convex outline surface similar to a mechanical cam, and the outer edge outline surface is provided with a rope groove for accommodating a steel wire rope.
And a fixed pulley is arranged on one side of the movable arm, and the middle of a steel wire rope connected between the rope winding convex plate and the sliding block is wound on the fixed pulley, so that the steel wire rope is always in a tensioning state.
The excavator movable arm can normally descend and ascend, the torque generated by the cylinder and the gravity torque reach a proper magnitude relation, and the descending potential energy of the movable arm is recycled to the maximum extent at the same time, the key point lies in the change of the motion track of the hinge point B of the cylinder piston rod on the slide rail between the cylinder and the slide block, and the motion track of the hinge point B of the cylinder piston rod and the slide block is mainly determined by the radian of the convex profile surface of the rope winding convex plate because the position of the fixed pulley is unchanged; therefore, after the installation position of the pulley is determined, the profile surface of the rope winding convex plate can be manufactured according to the working track of the counting hinge point B because the length of the steel wire rope is unchanged.
And the calculation method of the running track of the point B comprises the following steps:
the rotating shaft of the movable arm is set as a point O, the hinged position of the cylinder body of the cylinder and the upper rotary table is set as a point A, the hinged position between the cylinder and the sliding block is set as a point B, the gravity center of the movable arm is set as a point C, the motion track of the hinged point of the cylinder and the sliding block on the movable arm sliding rail is a straight line BD, and the intersection point of the straight line BD and the straight line OC is set as a point D;
the expression of the straight line BD is:
y-y D ＝(x-x D )tan(θ+α)
in the formula: x is a radical of a fluorine atom D 、y D I.e. the abscissa and ordinate of the representative point D;
the expression of point B on the straight line BD is:
y B -y D ＝(x B -x D )tan(θ+α)
the following steps are provided: y is D ＝L OD sin θ,x D ＝L OD cos θ; in the formula: l represents a length between two points;
substituting the formula to obtain:
y B ＝(x B -L OD cos θ)tan(θ+α)-L OD sin θ Ⅰ
applying cosine theorem in delta OBA to obtain:
obtaining the following components by a gas state equation of the gas cylinder, a gravity G of a movable arm and a moment balance equation of a thrust F of the cylinder to a point O:
in the above formula: g is the gravity of the movable arm and has a unit N; s is the piston area of the cylinder in m 2 (ii) a k is equal entropy index 1.4; p 0 Is the initial pressure of the cylinder in Pa; l is a radical of an alcohol q Is equivalent length of gas cylinder, unit m, L q ＝V 0 /S；V 0 Is the initial volume of gas in the cylinder and gas cylinder, in m 3 ；L 0 Is the maximum length of the cylinder, in m;
firstly, the formula I is substituted into the formula II, and the included angle between the straight line OB and the straight line AB is obtained by using the formula IIDelta, alpha is an included angle between the straight line OC and the straight line BD; then substituting formula I into formula III, wherein x B Is a function of theta, theta is an included angle between a straight line OC and an X coordinate axis, and X is obtained B ＝f 1 (θ)，y B ＝f 2 And (theta) is the motion track of the point B.
A working method of an energy-saving device for recovering and recycling potential energy of a movable arm of an excavator comprises the following steps: the gravitational potential energy part in the descending process of the movable arm of the excavator is converted into internal energy of gas and stored in the gas cylinder, the internal energy of the gas stored in the gas cylinder is fully released when the movable arm of the excavator lifts, the movable arm is boosted to ascend, throttling loss of oil liquid generated by a proportional reversing valve when the movable arm descends in an original hydraulic system is avoided, and the working efficiency of the movable arm of the excavator is improved;
specifically, the method comprises the following steps:
when the movable arm descends, the process of converting gravitational potential energy into internal energy of gas comprises the following steps:
when the movable arm is operated to descend, a control signal output by the movable arm descending pilot valve enables the proportional reversing valve to act, oil is returned from a lower cavity of the movable arm hydraulic cylinder, the movable arm descends under the action of the pressure of an upper cavity of the movable arm hydraulic cylinder and the gravity of the movable arm, and meanwhile, a piston rod of the air cylinder retracts to convert partial gravitational potential energy of the movable arm into internal energy of gas molecules in the air cylinder and the air bottle for storage; the torque generated by gravity is changed in the descending process of the movable arm, meanwhile, the air pressure in the air cylinder is also increased along with the compression of air in the air bottle, if the position of a fulcrum of the air cylinder is adjusted in an uncomfortable state, the reaction torque generated by the air cylinder is possibly larger than the gravity torque of the movable arm, therefore, in the descending process of the movable arm, one end of the steel wire rope is wound on the profile surface of the rope winding convex plate, the sliding block slides on the sliding rail, the position of the fulcrum B is changed, the rotating force of the air cylinder on the movable arm is reduced, the torque generated by the air cylinder is slightly smaller than the gravity torque of the movable arm, and the movable arm can be descended according to the gravity of a movable arm descending control signal.
When the movable arm ascends, the internal energy release and reuse process of the gas comprises the following steps:
when the movable arm rises, a control signal output by the movable arm rising pilot valve enables the proportional reversing valve to act, oil returns from an upper cavity of the movable arm hydraulic cylinder, the movable arm rises under the action of the pressure of a lower cavity of the movable arm hydraulic cylinder, meanwhile, a piston rod of the air cylinder extends out to convert internal energy of air molecules in the air cylinder and the air cylinder into mechanical energy, the movable arm is assisted to rise, the pressure supplied by a hydraulic system to the lower cavity of the movable arm hydraulic cylinder is much lower than that of the original system, at the moment, the power of the engine is reduced, the emission of fuel oil and air is reduced, and the purposes of energy conservation and emission reduction are achieved; the torque generated by gravity in the ascending process of the movable arm changes, meanwhile, the air pressure in the air cylinder also descends along with the increase of the volume of air in the air cylinder, if the fulcrum position of the air cylinder is adjusted in the uncomfortable process, the torque generated by the air cylinder is reduced, and the internal energy stored in the air cylinder cannot be fully released, so that in the ascending process of the movable arm, one end of the steel wire rope is separated from the profile surface of the rope winding convex plate, the sliding block slides on the sliding rail, the position of the fulcrum B is changed, the rotating force arm of the air cylinder to the movable arm is increased, the internal energy of the air cylinder and the air cylinder is fully released, the movable arm overcomes the gravity of the movable arm under the combined action of the movable arm hydraulic cylinder and the air cylinder, and the movable arm ascends according to the magnitude of the movable arm ascending control signal.
Has the beneficial effects that:
when the movable arm of the excavator descends, the steel wire rope is wound along the profile surface of the rope winding convex plate, the sliding block slides on the sliding rail, and the torque generated by the air cylinder is slightly smaller than the gravity torque of the movable arm along with the change of the motion track of the hinged point of the air cylinder and the sliding block, so that the movable arm of the excavator can normally descend under the action of gravity. In the process, the piston rod of the cylinder retracts to compress the gas in the cylinder and the gas cylinder, and the potential energy of the descending of the movable arm is converted into the internal energy of gas molecules to be stored.
When the movable arm of the excavator ascends, the piston rod extends out, the stored gas molecular internal energy is converted into mechanical energy, the power-assisted movable arm ascends, one end of a steel wire rope is separated from the contour surface of the rope winding convex plate, the sliding block slides on the sliding rail, and along with the change of the motion track of the hinged point of the cylinder and the sliding block, the cylinder increases the rotating arm of the movable arm, so that the gas molecular internal energy can be fully released. In the process, the pressure supplied to the lower cavity of the movable arm hydraulic cylinder by the excavator hydraulic system is much lower than the original pressure, so that the power and the fuel quantity of the engine are reduced, and the effects of energy conservation and emission reduction are achieved.
Compared with the existing excavator movable arm potential energy recycling device, the excavator movable arm potential energy recycling and reusing scheme based on the sliding pair and the gas energy storage is adopted, the original hydraulic system of the excavator is not required to be changed, the improvement is convenient, the reliability is high, the complex energy conversion link is avoided, and the utilization rate of energy recycling is ensured. The scheme has simple structure and lower cost; the loss of hydraulic oil when flowing through pipelines and elements is reduced to a certain extent, the system heating condition caused by oil temperature rising is relieved, and the efficiency of a hydraulic system is effectively improved.
Drawings
FIG. 1 is a schematic diagram of the mechanical structure of the energy saving device of the present invention;
in the figure: 1-an upper turntable; 2-a movable arm; 3-rope winding convex plate; 4-a steel wire rope; 5-fixed pulley; 6-cylinder; 7-a slide rail; 8-a slide block; 9-a gas cylinder; 10-trachea.
Detailed Description
The present invention will now be described in detail with reference to the drawings and detailed description for the purpose of fully explaining the invention.
As shown in fig. 1, the invention 1 relates to an excavator boom energy-saving device based on sliding pair and gas energy storage, which is characterized in that: the hydraulic sliding device is arranged between a movable arm 2 of the excavator and an upper rotary table 10, and a rope winding convex plate 3 is arranged at the tail part of the upper rotary table 10; the hydraulic sliding device comprises a sliding rail 7 and an air cylinder 6 which are arranged on a movable arm 2 of the excavator, a sliding block 8 is arranged on the sliding rail 7, a fixed pulley 5 is arranged on one side of the movable arm 2, the middle of a steel wire rope 4 connected between a rope winding convex plate 3 and the sliding block 8 is wound on the fixed pulley 5, so that the steel wire rope 4 is always in a tensioning state, a cylinder body of the air cylinder 6 is hinged with an upper rotary table 1, a piston rod is hinged with the sliding block 8, and a piston cylinder of the air cylinder 6 is connected with an air cylinder 9 through an air pipe 10; and a steel wire rope 4 connected with each other is arranged between the rope winding convex plate 3 and the sliding block 8, a convex outline surface similar to a mechanical cam is arranged on the rope winding convex plate (3), and a rope groove for accommodating the steel wire rope 4 is arranged on the outer edge outline surface.
The excavator movable arm 2 can normally descend and ascend, the torque generated by the air cylinder 6 and the gravity torque reach a proper magnitude relation, and meanwhile, the descending potential energy of the movable arm is recycled to the maximum extent, the key point lies in the change of the motion track of the hinge point B of the air cylinder piston rod on the slide rail 7 between the air cylinder and the slide block 8, and the motion track of the hinge point B of the air cylinder piston rod and the slide block is mainly determined by the radian of the convex profile surface of the rope winding convex plate 3 because the position of the fixed pulley 5 is unchanged; therefore, after the installation position of the pulley 5 is determined, the contour surface of the rope winding convex plate 3 can be manufactured according to the working track of the hinge point B because the length of the steel wire rope 4 is unchanged. The calculation method of the running track of the point B or the contour surface of the rope winding convex plate 3 comprises the following steps:
setting a rotating shaft of a movable arm as a point O, a hinged part of a cylinder body of a cylinder 6 and an upper rotary table as a point A, a hinged part between the cylinder 6 and a sliding block 8 as a point B, the gravity center of the movable arm as a point C, a motion track of a hinged point of the cylinder 6 and the sliding block 8 on a movable arm sliding rail 7 as a straight line BD, and an intersection point of the straight line BD and a straight line OC as a point D;
the expression of the straight line BD is:
y-y D ＝(x-x D )tan(θ+α)
in the formula: x is a radical of a fluorine atom D 、y D I.e. the abscissa and ordinate of the representative point D;
the expression of point B on the straight line BD is:
y B -y D ＝(x B -x D )tan(θ+α)
and the following steps: y is D ＝L OD sin θ,x D ＝L OD cos θ; in the formula: l represents a length between two points;
substituting the formula to obtain:
y B ＝(x B -L OD cos θ)tan(θ+α)-L OD sin θ Ⅰ
applying cosine theorem in delta OBA to obtain:
obtaining the following components by a gas state equation of the gas cylinder, a gravity G of a movable arm and a moment balance equation of a thrust F of the cylinder to a point O:
in the above formula: g is the gravity of the movable arm 2 and has a unit N; s is the piston area of the cylinder 6 in m 2 (ii) a k is equal entropy index 1.4; p 0 Is the initial pressure of the cylinder 6 in Pa; l is a radical of an alcohol q Is 9 equivalent length of the gas cylinder and has the unit m, L q ＝V 0 /S；V 0 Is the initial volume of gas in the gas cylinder 9 and the gas cylinder 6, and has unit m 3 ；L 0 Is the maximum length of the cylinder 6, in m;
firstly, substituting a formula I into a formula II, and solving the formula II to obtain an included angle delta between a straight line OB and a straight line AB, wherein alpha is an included angle between a straight line OC and a straight line BD; then substituting formula I into formula III, wherein x B Is a function of theta, theta is an included angle between a straight line OC and an X coordinate axis, and X is obtained B ＝f 1 (θ)，y B ＝f 2 And (theta) is the motion track of the point B.
When the movable arm descends, the gravitational potential energy is converted into internal energy of gas for storing:
a driver operates a movable arm descending handle, a control signal output by a movable arm descending pilot valve enables a proportional reversing valve to act, a lower cavity of a movable arm hydraulic cylinder returns oil, a movable arm 2 descends under the action of the pressure of an upper cavity of the movable arm hydraulic cylinder and the gravity of the movable arm, and meanwhile, a piston rod of an air cylinder 6 retracts to convert partial gravitational potential energy of the movable arm 2 into internal energy of gas molecules in the air cylinder 6 and an air bottle 9 for storage.
The torque generated by gravity in the descending process of the movable arm 2 changes, meanwhile, along with the compression of gas in the gas cylinder 9, the gas pressure in the cylinder 6 also rises, if the position of a fulcrum of the cylinder 6 is adjusted in an uncomfortable state, the reaction torque generated by the cylinder 6 is possibly larger than the gravity torque of the movable arm 2, the movable arm 2 cannot descend under the action of gravity, and a hydraulic system is used for inputting high-pressure oil into an upper cavity of a cylinder of the movable arm to increase fuel. In the descending process of the movable arm 2, one end of a steel wire rope 4 in the energy-saving device is wound on the profile surface of the rope winding convex plate 3, a sliding block 8 slides on a sliding rail 7, the position of a supporting point B is changed, the rotating force arm of the air cylinder 6 to the movable arm is reduced, the torque generated by the air cylinder 6 is slightly smaller than the gravity torque of the movable arm 2, and the movable arm 2 can descend according to the magnitude of a movable arm descending control signal under the action of gravity.
When the movable arm ascends, the internal energy of the gas is released and reused:
a driver operates a movable arm lifting handle, a control signal output by a movable arm lifting pilot valve enables a proportional reversing valve to act, an upper cavity of a movable arm hydraulic cylinder returns oil, a movable arm 2 rises under the action of the pressure of a lower cavity of the movable arm hydraulic cylinder, a piston rod of an air cylinder 6 extends out to convert internal energy of gas molecules in the air cylinder 6 and an air bottle 9 into mechanical energy, the movable arm 2 is assisted to rise, the pressure supplied by a hydraulic system to a lower cavity of the movable arm hydraulic cylinder is much lower than that of the original system, the power of an engine is reduced at the moment, the emission of fuel oil and gas is reduced, and the purposes of energy conservation and emission reduction are achieved.
The torque generated by gravity in the ascending process of the movable arm 2 changes, meanwhile, along with the increase of the gas volume of the gas cylinder 9, the gas pressure in the gas cylinder 6 also decreases, if the fulcrum position of the gas cylinder 6 is adjusted in an uncomfortable state, the torque generated by the gas cylinder 6 becomes small, the internal energy stored in the gas cylinder 9 cannot be fully released, and a hydraulic system is used for inputting high-pressure oil into the lower cavity of the oil cylinder of the movable arm to increase fuel. In the process of lifting the movable arm 2, one end of a steel wire rope 4 in the energy-saving device is separated from the profile surface of the rope winding convex plate 3, so that a sliding block 8 slides on a sliding rail 7, the position of a fulcrum B is changed, the rotating force arm of the air cylinder 6 to the movable arm is increased, the gas molecular internal energy of the air cylinder 7 and the air cylinder 6 is fully released, and the movable arm 2 overcomes the gravity of the movable arm 2 under the combined action of the movable arm hydraulic cylinder and the air cylinder 6 to press the size of an arm lifting control signal to lift.
In conclusion, the energy-saving device can convert part of gravitational potential energy into internal energy of gas in the descending process of the movable arm of the excavator, the internal energy of the gas stored in the gas cylinder is fully released when the movable arm of the excavator lifts, the movable arm is assisted to ascend, throttling loss of oil liquid generated by the proportional reversing valve when the movable arm descends in an original hydraulic system is avoided, and the efficiency of the hydraulic system is improved.
Claims (3)
1. The utility model provides an excavator swing arm economizer based on vice and gaseous energy storage of slip which characterized in that: the hydraulic excavator comprises a hydraulic sliding device arranged between a movable arm (2) and an upper rotary table (1) of the excavator, and a rope winding convex plate (3) arranged at the tail part of the upper rotary table (1); the hydraulic sliding device comprises a sliding rail (7) and a cylinder (6) which are arranged on a movable arm (2) of the excavator, wherein the sliding rail (7) is provided with a sliding block (8), a cylinder body of the cylinder (6) is hinged with the upper rotary table (1), a piston rod is hinged with the sliding block (8), and a piston cylinder of the cylinder (6) is connected with a gas cylinder (9) through a gas pipe (10); a steel wire rope (4) connected with each other is arranged between the rope winding convex plate (3) and the sliding block (8), a convex outline surface similar to a mechanical cam is arranged on the rope winding convex plate (3), and a rope groove for accommodating the steel wire rope (4) is arranged on the outer edge outline surface;
the excavator movable arm (2) can normally descend and ascend, the torque generated by the air cylinder (6) and the gravity torque reach a proper magnitude relation, and meanwhile, the descending potential energy of the movable arm is recycled to the maximum extent, the key point lies in the change of the motion track of the hinge point B of the air cylinder piston rod on the sliding rail (7) of the air cylinder and the sliding block (8), and the motion track of the hinge point B of the air cylinder piston rod and the sliding block is mainly determined by the radian of the convex profile surface of the rope winding convex plate (3) due to the fact that the position of the fixed pulley (5) is unchanged; therefore, after the installation position of the pulley (5) is determined, the contour surface of the rope winding convex plate (3) can be manufactured according to the working track of the hinge point B because the length of the steel wire rope (4) is not changed;
and the calculation method of the running track of the point B comprises the following steps:
the rotating shaft of the movable arm is set as a point O, the hinged position of the cylinder body of the cylinder (6) and the upper rotary table is set as a point A, the hinged position between the cylinder (6) and the sliding block (8) is set as a point B, the gravity center of the movable arm is set as a point C, the motion track of the hinged point of the cylinder (6) and the sliding block (8) on the movable arm sliding rail (7) is a straight line BD, and the intersection point of the straight line BD and the straight line OC is set as a point D;
the expression of the straight line BD is:
y-y D ＝(x-x D )tan(θ+α)
in the formula: x is a radical of a fluorine atom D 、y D I.e. the abscissa and ordinate of the representation point D;
the expression of point B on the straight line BD is:
y B -y D ＝(x B -x D )tan(θ+α)
and the following steps: y is D ＝L OD sinθ，x D ＝L OD cos θ; in the formula: l represents a length between two points;
substituting the formula to obtain:
y B ＝(x B -L OD cosθ)tan(θ+α)-L OD sinθ Ⅰ
applying cosine theorem in delta OBA to obtain:
the gas cylinder gas state equation, the moment balance equation of the movable arm gravity G and the cylinder thrust F to the point O are used for obtaining:
in the above formula: g is the gravity of the movable arm (2) and has a unit N; s is the piston area of the cylinder (6) and has the unit of m 2; k is equal entropy index 1.4; p0 is the initial pressure of the cylinder (6) in Pa; lq is the equivalent length of the gas cylinder (9), and the unit m is V0/S; v0 is the initial volume of gas in the gas cylinder (9) and the gas cylinder (6), and the unit is m 3; l0 is the maximum length of the cylinder (6) in m;
firstly, substituting a formula I into a formula II, and solving the formula II to obtain an included angle delta between a straight line OB and a straight line AB, wherein alpha is an included angle between a straight line OC and a straight line BD; then substituting formula I into formula III, wherein x B Is a function of theta, theta is an included angle between a straight line OC and an X coordinate axis, and X is obtained B ＝f 1 (θ)，y B ＝f 2 And (theta) is the motion track of the point B.
2. The excavator boom energy-saving device based on sliding pair and gas energy storage is characterized in that: a fixed pulley (5) is arranged on one side of the movable arm (2), and the middle of a steel wire rope (4) connected between the rope winding convex plate (3) and the sliding block (8) is wound on the fixed pulley (5), so that the steel wire rope (4) is always in a tensioning state.
3. An operating method of an excavator boom energy saving device based on sliding pair and gas energy storage according to any one of the claims 1-2, characterized in that: the gravitational potential energy part in the descending process of the excavator movable arm (2) is converted into gas internal energy to be stored in the gas cylinder (9), the gas internal energy stored in the gas cylinder (9) is fully released when the excavator movable arm (2) lifts, the power-assisted movable arm (2) rises, throttling loss generated by oil liquid passing through a proportional reversing valve when the movable arm (2) descends in an original hydraulic system is avoided, and the working efficiency of the excavator movable arm (2) is improved;
when the movable arm descends, the internal energy storage process of converting the gravitational potential energy into gas comprises the following steps:
when the movable arm (2) is operated to descend, a control signal output by the descending pilot valve of the movable arm (2) enables the proportional reversing valve to act, the lower cavity of the movable arm hydraulic cylinder returns oil, the movable arm (2) descends under the action of the upper cavity pressure of the movable arm hydraulic cylinder and the gravity of the movable arm, and meanwhile, the piston rod of the air cylinder (6) retracts to convert partial gravitational potential energy of the movable arm (2) into internal energy of gas molecules in the air cylinder (6) and the air bottle (9) for storage; the torque generated by gravity is changed in the descending process of the movable arm (2), meanwhile, along with the compression of gas in a gas cylinder (9), the gas pressure in the cylinder (6) is also increased, if the position of a fulcrum of the cylinder (6) is adjusted in an uncomfortable state, the reaction torque generated by the cylinder (6) can be larger than the gravity torque of the movable arm (2), therefore, in the descending process of the movable arm (2), one end of a steel wire rope (4) is wound on the profile surface of a rope winding convex plate (3), a sliding block (8) slides on a sliding rail (7), the position of the fulcrum B is changed, the rotating force of the cylinder (6) on the movable arm is reduced, the torque generated by the cylinder (6) is slightly smaller than the gravity torque of the movable arm (2), and the movable arm (2) can descend according to the size of a movable arm descending control signal under the action of gravity;
when the movable arm ascends, the internal energy release and reuse process of the gas comprises the following steps:
when the movable arm (2) rises, a control signal output by the ascending pilot valve of the movable arm (2) enables the proportional reversing valve to act, oil returns from an upper cavity of the movable arm hydraulic cylinder, the movable arm (2) rises under the action of pressure of a lower cavity of the movable arm hydraulic cylinder, meanwhile, a piston rod of the cylinder (6) extends out, internal energy of gas molecules in the cylinder (6) and the gas cylinder (9) is converted into mechanical energy, the movable arm (2) is assisted to rise, the pressure supplied to the lower cavity of the movable arm hydraulic cylinder by a hydraulic system is lower than that of the original system, the power of the engine is reduced at the moment, the emission of fuel oil and gas is reduced, and the purposes of energy conservation and emission reduction are achieved; the torque generated by gravity in the ascending process of the movable arm (2) is changed, meanwhile, along with the increase of the gas volume of the gas cylinder (9), the gas pressure in the gas cylinder (6) is also reduced, if the position of a fulcrum of the gas cylinder (6) is improperly adjusted, the torque generated by the gas cylinder (6) is reduced, and the internal energy stored in the gas cylinder (9) cannot be fully released, so that in the ascending process of the movable arm (2), one end of a steel wire rope (4) is separated from the profile surface of a rope winding convex plate (3), a sliding block (8) slides on a sliding rail (7), the position of the fulcrum B is changed, the rotating force arm of the gas cylinder (6) for the movable arm is increased, the gas molecular internal energy of the gas cylinder (6) and the gas cylinder (9) is fully released, the movable arm (2) overcomes the gravity of the movable arm (2) under the combined action of the movable arm hydraulic cylinder and the gas cylinder (6), and the size of a movable arm ascending control signal is increased.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01199002A (en) * | 1988-01-30 | 1989-08-10 | Komatsu Ltd | Position energy recovering activating device for hydraulic excavator |
| KR20130008997A (en) * | 2011-07-14 | 2013-01-23 | 강병태 | An excavator with the auxiliary boom gas sylinder |
| CN103993625A (en) * | 2014-06-06 | 2014-08-20 | 山东中川液压有限公司 | Three-oil cylinder movable arm working device of hydraulic excavator |
| CN109469126A (en) * | 2018-11-26 | 2019-03-15 | 马鞍山金顺来工业设计有限公司 | A kind of excavator with cylinder protection device |
| CN112049177A (en) * | 2020-09-07 | 2020-12-08 | 江苏师范大学 | An energy-saving device for electric recovery and reuse of potential energy of excavator arm |
-
2021
- 2021-04-26 CN CN202110452511.7A patent/CN113152574B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01199002A (en) * | 1988-01-30 | 1989-08-10 | Komatsu Ltd | Position energy recovering activating device for hydraulic excavator |
| KR20130008997A (en) * | 2011-07-14 | 2013-01-23 | 강병태 | An excavator with the auxiliary boom gas sylinder |
| CN103993625A (en) * | 2014-06-06 | 2014-08-20 | 山东中川液压有限公司 | Three-oil cylinder movable arm working device of hydraulic excavator |
| CN109469126A (en) * | 2018-11-26 | 2019-03-15 | 马鞍山金顺来工业设计有限公司 | A kind of excavator with cylinder protection device |
| CN112049177A (en) * | 2020-09-07 | 2020-12-08 | 江苏师范大学 | An energy-saving device for electric recovery and reuse of potential energy of excavator arm |
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