CN113183753B - An electric-hydraulic parallel-driven walking system for construction machinery - Google Patents
An electric-hydraulic parallel-driven walking system for construction machinery Download PDFInfo
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- CN113183753B CN113183753B CN202110643348.2A CN202110643348A CN113183753B CN 113183753 B CN113183753 B CN 113183753B CN 202110643348 A CN202110643348 A CN 202110643348A CN 113183753 B CN113183753 B CN 113183753B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of fluid gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of electric gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides an electric hydraulic parallel driving engineering machinery traveling system which comprises a mechanical transmission part, an electric driving part, a hydraulic driving part and a traveling executing part, wherein the mechanical transmission part comprises an electric power input shaft, a hydraulic input shaft, a power output shaft, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft which are arranged in parallel. The invention combines the advantages of an electric driving system and a hydraulic driving system, adopts the electric driving part and the hydraulic driving part to jointly drive the machinery to walk, comprehensively exerts the advantages of good electric transmission speed regulation performance and high hydraulic transmission power density, and has relatively low energy consumption, sufficient driving force and good economy.
Description
Technical Field
The invention relates to a walking system, in particular to an electric hydraulic parallel driving engineering machinery walking system.
Background
Along with the increasingly serious environmental problems and energy crisis, the concepts of energy conservation, emission reduction and environmental protection are gaining acceptance and attention of more and more countries. Engineering machinery (also called engineering vehicle) has rough road surface, complex and changeable working condition due to bad working environment, and the energy consumption of a running system is relatively high, and the traditional engineering machinery adopts a double-change hydraulic transmission device consisting of a torque converter and a gearbox to realize speed and torque change. The hydraulic transmission has the working characteristic of 'soft' that the output rotation speed automatically drops along with the increase of the load, and can prevent the overload of an engine, but the transmission efficiency is lower, the torque conversion ratio is greatly influenced by the rotation speed, and especially when the system is required to output high power under heavy load, the transmission efficiency is greatly reduced, so that the working efficiency is reduced, and huge energy waste is caused.
The electric engineering machinery is considered as one of ideal driving modes, however, working conditions and working modes of the engineering machinery are greatly different from those of a common vehicle, and research of an electric driving technology in the field of a running system of the engineering machinery is still in a starting stage, so that the following problems need to be solved:
(1) The motor is driven at low speed and high torque under the limit working condition, when the motor works at the near zero rotation speed, the torque controllability is poor, the output power is greatly reduced, and sufficient power is difficult to provide under the limit working conditions of shovel loading of a loader, ditching of a bulldozer and the like. If a walking driving system adopting a single high-energy battery, a motor, a torque converter and a gearbox adopts a torque converter with higher energy consumption and cannot recover energy, the overall efficiency is low, and the energy consumption is relatively higher. The running driving system of the high-energy battery, the motor and the gearbox cancels the torque converter, improves the energy-saving effect of the whole vehicle, and also causes the problems of insufficient near-zero rotation speed driving capability and the like of the system due to the limitation of the self output peak power of the motor (which is generally 2 times of rated power and greatly reduced at near-zero rotation speed).
(2) The installed power is difficult to match, the average power of engineering machinery operation is only 1/3-1/4 of the instantaneous peak power, if the driving motor is selected according to the peak power to meet the requirement of the limit working condition, larger installed power surplus exists, the continuous operation of the working point of the driving motor in a high-efficiency area cannot be effectively ensured, and the economical efficiency is poor.
(3) In order to meet the long-term operation requirement, the electric engineering machinery generally adopts an energy type battery as an energy source, and is difficult to realize high-rate current charge and discharge, so that instantaneous high-power braking energy during frequent start and stop cannot be efficiently recovered.
In view of the above, the present inventors have conducted intensive studies on the above problems and have made the present application.
Disclosure of Invention
The invention aims to provide an electric hydraulic parallel driving engineering machinery traveling system which is relatively low in energy consumption, sufficient in driving force and good in economical efficiency.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
An electric hydraulic parallel driving engineering machinery traveling system comprises a mechanical transmission part, an electric driving part, a hydraulic driving part and a traveling executing part which are respectively connected with the mechanical transmission part in a transmission way, the mechanical transmission part comprises an electric power input shaft, a hydraulic power input shaft, a power output shaft, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft which are arranged in parallel, the electric power input shaft is in transmission connection with the electric power driving part, the hydraulic power input shaft is in transmission connection with the hydraulic power driving part, the power output shaft is in transmission connection with the walking execution part, an input gear is arranged on the power input shaft, the first transmission shaft is provided with a first gear and a second gear meshed with the input gear, the first transmission shaft is connected with the second transmission shaft through a first clutch, a third gear is arranged on the second transmission shaft, the third transmission shaft is connected with the hydraulic input shaft through a second clutch, and a fourth gear meshed with the second gear is arranged on the third transmission shaft, a fifth gear meshed with the second gear is arranged on the fourth transmission shaft, the fourth transmission shaft is connected with the fifth transmission shaft through a third clutch, a sixth gear meshed with the third gear is arranged on the fifth transmission shaft, a seventh gear meshed with the first gear is arranged on the sixth transmission shaft, and the sixth transmission shaft is connected with the seventh transmission shaft through a fourth clutch, and an eighth gear meshed with the third gear is arranged on the seventh transmission shaft.
As an improvement of the invention, the electric driving part comprises a first electric power generation integrated machine, a first motor control module electrically connected with the first electric power generation integrated machine and a charge-discharge battery electrically connected with the first motor control module, and a rotating shaft of the first electric power generation integrated machine is in transmission connection with the electric power input shaft.
As an improvement of the invention, the hydraulic driving part comprises a pump motor integrated machine, a main pump, an oil tank connected with an oil inlet of the main pump, a first two-position two-way electromagnetic reversing valve connected with an oil outlet of the main pump, and a three-position four-way electromagnetic reversing valve communicated with the oil outlet of the first two-position two-way electromagnetic reversing valve, wherein an oil return port of the three-position four-way electromagnetic reversing valve is connected with the oil tank, two oil outlets of the three-position four-way electromagnetic reversing valve are respectively connected with two oil ports of the pump motor integrated machine in a one-to-one correspondence manner through a hydraulic oil pipe, two oil supplementing pipes connected with the oil tank are respectively connected on the hydraulic oil pipe, and a one-way valve is arranged on the oil supplementing pipe, and a rotating shaft of the pump motor integrated machine is in transmission connection with the hydraulic input shaft.
As an improvement of the invention, the oil outlet of the main pump and the two oil ports of the pump motor integrated machine are respectively connected with a first safety valve, and the oil return port of each first safety valve is connected with the oil tank.
As an improvement of the invention, the oil outlet of the first two-position two-way electromagnetic reversing valve is also connected with a second two-position two-way electromagnetic reversing valve, the oil outlet of the second two-position two-way electromagnetic reversing valve is respectively connected with a hydraulic accumulator and a second safety valve, and the oil return port of the second safety valve is connected with the oil tank.
As an improvement of the invention, the oil outlets of the first two-position two-way electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve are respectively connected with a pressure sensor.
As an improvement of the invention, the hydraulic device also comprises a working and steering hydraulic device, and the oil outlet of the main pump is connected with the working and steering hydraulic device at the same time.
As an improvement of the invention, the main pump is connected with a second electric power generation integrated machine, the second electric power generation integrated machine is electrically connected with a second motor control module, and the second motor control module is electrically connected with the charge and discharge battery.
As an improvement of the invention, the charging and discharging battery is a lithium battery.
As an improvement of the invention, a filter is arranged on the oil outlet of the oil tank.
By adopting the technical scheme, the invention has the following beneficial effects:
1. the invention combines the advantages of an electric driving system and a hydraulic driving system, adopts the electric driving part and the hydraulic driving part to jointly drive the machinery to walk, comprehensively exerts the advantages of good electric transmission speed regulation performance and high hydraulic transmission power density, and has relatively low energy consumption, sufficient driving force and good economy.
2. Under the high-speed working condition, the problem of insufficient torque caused by the increase of the rotating speed when the first electric power generation integrated machine works in a constant power area is solved by utilizing the output torque of the pump motor integrated machine, when the working condition of the shoveling and the blocking is responsible, the driving of the walking motor is assisted by utilizing the output torque of the variable pump/motor, and under the limit working condition that engineering operations (such as shoveling of a loader, trenching of a bulldozer and the like) are carried out by engineering machinery, the driving and the walking of the first electric power generation integrated machine are assisted by utilizing the output torque of the pump motor integrated machine, and the power level required by the first electric motor integrated machine is greatly reduced.
3. The mechanical transmission part of the invention cancels the directional clutch and the corresponding gear, utilizes the forward and reverse rotation characteristics of the first electric power generation integrated machine and the pump motor integrated machine to realize forward and reverse rotation of the whole vehicle, improves the transmission efficiency of the whole vehicle, reduces the installation space of an outer oil way, simplifies the electric control and mechanical structure, greatly improves the reliability of the whole vehicle, reduces the cost and has good economy.
4. Because the working and steering hydraulic device of the engineering machinery has a great degree of overflow loss when working, the partial loss energy is recovered through the hydraulic accumulator, and the hydraulic energy accumulator can be used for recycling the hydraulic driving part or the working and steering hydraulic device.
5. By arranging the charging and discharging battery and the hydraulic accumulator, high-rate current charging and discharging are realized, and instantaneous high-power braking energy during frequent start and stop can be efficiently recovered.
Drawings
Fig. 1 is a schematic structural diagram of an electric hydraulic parallel driving walking system of engineering machinery.
The labels correspond to the following:
a 100-mechanical transmission part, a 101-first transmission shaft;
102-a second drive shaft, 103-a third drive shaft;
104-fourth transmission shaft, 105-fifth transmission shaft;
106-sixth transmission shaft, 107-seventh transmission shaft;
109-electric power input shaft, 110-hydraulic input shaft;
111-power take-off shaft 112-input gear;
121-a first gear, 122-a second gear;
123-third gear, 124-fourth gear;
125-fifth gear, 126-sixth gear;
127-seventh gear, 128-eighth gear;
129-output gear, 131-first clutch;
132-second clutch, 133-third clutch;
134-fourth clutch, 200-electric drive portion;
210-a first electric power generation integrated machine, 220-a first coupling;
300-hydraulic drive part, 310-pump motor integrated machine;
311-first safety valve, 312-second coupling;
320-a main pump, 321-a second electric power generation integrated machine;
330-oil tank 331-filter;
340-a first two-position two-way electromagnetic reversing valve;
341-a second two-position two-way electromagnetic reversing valve;
342-hydraulic accumulator 343-second safety valve;
344-a pressure sensor, 350-a three-position four-way electromagnetic reversing valve;
351-check valve, 500-working and steering hydraulic device,
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific examples.
As shown in fig. 1, this embodiment provides an electrohydraulic parallel driving walking system for construction machines, which includes a mechanical transmission part 100, and an electric driving part 200, a hydraulic driving part 300 and a walking executing part (not shown in the drawing) that are respectively connected with the mechanical transmission part 100 in a transmission manner, wherein the walking executing part is a wheel-type walking mechanism or a crawler-type walking mechanism adopted by a conventional construction machine (such as an excavator, a loader or a grappler, etc.), which is not the focus of this embodiment, and will not be described in detail herein.
The mechanical transmission part 100 is essentially a power coupling box, and includes a box body, an electric power input shaft 109, a hydraulic power input shaft 110, a power output shaft 111, a first transmission shaft 101, a second transmission shaft 102, a third transmission shaft 103, a fourth transmission shaft 104, a fifth transmission shaft 105, a sixth transmission shaft 106 and a seventh transmission shaft 107 which are disposed in parallel with each other in the box body, wherein the first transmission shaft 101 and the second transmission shaft 102 are disposed in a straight line in sequence, the third transmission shaft 103 and the hydraulic power input shaft 110 are disposed in a straight line in sequence, the fourth transmission shaft 104 and the fifth transmission shaft 105 are disposed in a straight line in sequence, and the sixth transmission shaft 106 and the seventh transmission shaft 107 are disposed in a straight line in sequence. Further, the electric power input shaft 109 is in transmission connection with the electric power driving section 200, the hydraulic power input shaft 110 is in transmission connection with the hydraulic power driving section 300, and the power output shaft 111 is in transmission connection with the walking performing section. It should be noted that the input shaft or the output shaft is just a name of a shaft, and does not represent that the shaft can only achieve torque input or torque output, and in some working conditions, the input shaft may achieve a torque output function, and the output shaft may achieve a torque input function, and similarly, an input gear and an output gear, which will be mentioned below, are just names of gears.
The electric power input shaft 109 is provided with an input gear 112, the first transmission shaft 101 is provided with a first gear 121 and a second gear 122 meshed with the input gear 112, the first transmission shaft 101 and the second transmission shaft 102 are connected through a first clutch 131, the second transmission shaft 102 is provided with a third gear 123, the third transmission shaft 103 and the hydraulic input shaft 110 are connected through a second clutch 132, the third transmission shaft 103 is provided with a fourth gear 124 meshed with the second gear 122, the fourth transmission shaft 104 is provided with a fifth gear 125 meshed with the second gear 122, namely, the second gear 122 is simultaneously meshed with the input gear 112, the fourth gear 124 and the fifth gear 125, the fourth transmission shaft 104 and the fifth transmission shaft 105 are connected through a third clutch 133, the fifth transmission shaft 105 is provided with a sixth gear 126 meshed with the third gear 123, the sixth transmission shaft 106 is provided with a seventh gear 127 meshed with the first gear 121, the sixth transmission shaft 106 and the seventh transmission shaft 107 are connected through a fourth clutch 134, the seventh transmission shaft 107 is provided with a fifth gear 125 meshed with the third gear 123, namely, the eighth gear 128 meshed with the eighth gear 123 is simultaneously meshed with the fourth gear 128, namely, the eighth gear 129 is meshed with the sixth gear 123 is provided with the fifth gear 128, and the eighth gear 129 is actually meshed with the fifth gear 128.
The connection or disconnection of the first clutch 131, the third clutch 133 and the fourth clutch 134, which correspond to the three gear steps of the mechanical transmission part 100, determines whether the hydraulic driving part 300 is coupled with the electric driving part 200, and of course, the case is also required to be provided with a three-step transmission mechanism engaged with each clutch, and the specific transmission mechanism is the same as that engaged with a conventional transmission, and will not be described in detail herein. The three-gear speed change is only one of the multi-gear speed changes used in the existing engineering mechanical locks, and the three-gear speed change can be set to be more than three gears according to actual needs.
The mechanical transmission part 100 provided in this embodiment cancels the directional clutch and the corresponding gear adopted by the conventional engineering machinery, and utilizes the characteristic that the first electric power generation integrated machine 210 and the pump motor integrated machine 310, which will be mentioned later, can rotate forward and backward to realize forward and backward of the whole vehicle.
The electric hydraulic parallel driving engineering machinery traveling system provided in this embodiment has three driving modes including a single-row traveling motor driving mode, a single variable pump/motor driving mode, a traveling motor and a variable pump/motor combined driving mode, and when in use, the mechanical transmission part 100 performs corresponding clutch combination according to the conditions of the driving gear and the driving mode, and outputs power through corresponding gears, so that a three-gear speed change mechanism is adopted for illustration:
In the single-row motor driving mode, the electric driving part 200 is driven individually, the third clutch 133 is engaged (i.e., in a transmission connection state) when the gear is in first gear, the other clutches are disengaged (i.e., in a non-transmission connection state), power supplied from the electric driving part 200 is transmitted to the walking performing part through the electric input shaft 109, the first transmission shaft 101, the fourth transmission shaft 104, the fifth transmission shaft 105, the second transmission shaft 102 and the power output shaft 111 in sequence, the fourth clutch 134 is engaged, the other clutches are disengaged, power supplied from the electric driving part 200 is transmitted to the walking performing part through the electric input shaft 109, the first transmission shaft 101, the sixth transmission shaft 106, the seventh transmission shaft 107, the second transmission shaft 102 and the power output shaft 111 in sequence, and when the gear is in third gear, the first clutch 131 is engaged, the other clutches are disengaged, and power supplied from the electric driving part 200 is transmitted to the walking performing part through the electric input shaft 109, the first transmission shaft 101, the second transmission shaft 102 and the power output shaft 111 in sequence.
In the single variable pump/motor driving mode, the hydraulic driving part 300 is driven separately, the second clutch 132 and the third clutch 133 are combined when the gear is first gear, the other clutches are separated, power provided by the hydraulic driving part 300 is sequentially transmitted to the walking performing part through the hydraulic input shaft 110, the third transmission shaft 103, the first transmission shaft 101, the fourth transmission shaft 104, the fifth transmission shaft 105, the second transmission shaft 102 and the power output shaft 111, the second clutch 132 and the fourth clutch 134 are combined when the gear is second gear, the other clutches are separated, power provided by the hydraulic driving part 300 is sequentially transmitted to the walking performing part through the hydraulic input shaft 110, the third transmission shaft 103, the first transmission shaft 101, the sixth transmission shaft 106, the seventh transmission shaft 107, the second transmission shaft 102 and the power output shaft 111, the first clutch 131 and the second clutch 132 are combined when the gear is third gear, and the power provided by the hydraulic driving part 300 is separated, and the power provided by the hydraulic driving part 300 is sequentially transmitted to the walking performing part through the hydraulic input shaft 110, the third transmission shaft 103, the first transmission shaft 101, the second transmission shaft 102 and the power output shaft 111.
In the combined driving mode of the traveling motor and the variable pump/motor, the electric driving part 200 and the hydraulic driving part 300 are simultaneously driven, the actions of the clutches in each gear state are the same as those in the single variable pump/motor driving mode, the power of the electric driving part 200 and the hydraulic driving part 300 is coupled at the second gear 122 to jointly drive the second gear 122 to rotate, and then the power is transmitted to the traveling executing part along the corresponding transmission shaft.
The electric driving part 200 includes a first electric power generation integrated machine 210, a first motor control module (not shown) electrically connected to the first electric power generation integrated machine 210, and a charge and discharge battery (not shown) electrically connected to the first motor control module, wherein a rotation shaft of the first electric power generation integrated machine 210 is in transmission connection with the electric power input shaft 109 through a first coupling 220, and in addition, the charge and discharge battery is preferably a lithium battery. The motor-generator integrated machines mentioned in the present embodiment are all motor/generators having both motor and generator functions, and are commercially available.
The hydraulic driving part 300 includes a pump motor integrated machine 310, a main pump 320, an oil tank 330 connected with an oil inlet of the main pump 320, a first two-position two-way electromagnetic directional valve 340 connected with an oil outlet of the main pump 320, and a three-position four-way electromagnetic directional valve 350 communicated with the oil outlet of the first two-position two-way electromagnetic directional valve 340, wherein a rotating shaft of the pump motor integrated machine 310 is in transmission connection with the hydraulic input shaft 110 through a second coupling 312. The pump motor integrated machine 310 and the main pump 320 are variable pump/motors having both functions of a variable pump and a hydraulic motor, which are commercially available.
The pump motor integrated machine 310 has two oil ports, when one of which is an oil inlet, the other is an oil outlet. The two oil ports of the pump motor integrated machine 310 are respectively connected with a first safety valve 311, and the oil return port of each first safety valve 311 is connected with an oil tank 330 to recover hydraulic oil.
The main pump 320 is connected with a second electric power generation integrated machine 321, and specifically, a rotating shaft of the second electric power generation integrated machine 321 and a rotating shaft of the main pump 320 are coaxially connected through a coupling. The second electric power generation integrated machine 321 is electrically connected with a second motor control module (not shown in the figure), and the second motor control module is electrically connected with the charge and discharge battery, so that the second electric power generation integrated machine 321 can be driven by the inversion of the main pump 320 to generate power to realize energy storage. Preferably, the working machine traveling system provided in this embodiment further includes a working and steering hydraulic device 500, where the working and steering hydraulic device 500 is a hydraulic device for driving a working unit to act and steer on a conventional working machine, and is not the focus of this embodiment, and will not be described in detail herein. The oil outlet of the main pump 320 is simultaneously connected with the working and steering hydraulic device 500, that is, the hydraulic driving part 300 is connected in parallel in the conventional working and steering hydraulic device 500, so that surplus power of the working and steering hydraulic system 500 can be fully utilized, and more energy is saved. In addition, a first relief valve 311 is also connected to the oil outlet of the main pump 320, and the oil return port of the first relief valve 311 is also connected to the oil tank 330 to protect the main pump 320.
The filter 331 is installed on the oil outlet of the oil tank 330, and the oil inlet of the main pump 320 is connected with the oil tank 330 through the filter 331, so that pollutants mixed in the oil tank 330 are prevented from blocking the hydraulic channel. The oil inlet of the first two-position two-way electromagnetic directional valve 340 is connected with the oil outlet of the main pump 320, and because the oil outlet of the main pump 320 is also connected with the oil inlet of the first safety valve 311 and the working and steering hydraulic device 500, the oil inlet of the first two-position two-way electromagnetic directional valve 340 is also substantially connected with the oil inlet of the first safety valve 311 and the working and steering hydraulic device 500.
Preferably, the oil outlet of the first two-position two-way electromagnetic directional valve 340 is also connected with a second two-position two-way electromagnetic directional valve 341, specifically, the oil outlet of the first two-position two-way electromagnetic directional valve 340 is connected with the oil inlet of the second two-position two-way electromagnetic directional valve 341, the oil outlet of the second two-position two-way electromagnetic directional valve 341 is respectively connected with a hydraulic accumulator 342 and a second safety valve 343, and the oil return port of the second safety valve 343 is connected with the oil tank 330, so when the engineering machinery executes engineering operation working conditions, the engineering machinery is characterized by low rotation speed, large torque and short time, the characteristics of the working conditions are well matched with the working characteristics of the hydraulic accumulator 342, and the hydraulic accumulator 9 can be used for supplying oil for the pump motor integrated machine 310. In addition, in the present embodiment, the oil outlets of the first two-position two-way electromagnetic directional valve 340 and the second two-position two-way electromagnetic directional valve 341 are respectively connected with a pressure sensor 344.
The three-position four-way electromagnetic reversing valve 350 is provided with an oil inlet, an oil return port and two oil outlets, the oil inlet of the three-position four-way electromagnetic reversing valve 350 is connected with the oil outlet of the first two-position two-way electromagnetic reversing valve 340, the oil inlet of the three-position four-way electromagnetic reversing valve 350 is also connected with the oil inlet of the second two-position two-way electromagnetic reversing valve 341, the oil return port of the three-position four-way electromagnetic reversing valve 350 is connected with the oil tank 330, the two oil outlets of the three-position four-way electromagnetic reversing valve 350 are respectively connected with the two oil outlets of the pump motor integrated machine 310 in a one-to-one correspondence manner through hydraulic oil pipes, the two hydraulic oil pipes are respectively connected with oil supplementing pipes connected with the oil tank 330, and each oil supplementing pipe is provided with a one-way valve 351, so that the pump motor integrated machine 310 can supplement oil by using the oil supplementing pipes and can prevent backflow.
Preferably, in this embodiment, the rotation shafts of the first electric power generation integrated machine 210 and the pump motor integrated machine 310 are both provided with rotation speed sensors, the rotation speed sensors on the first electric power generation integrated machine 210 are in communication interception with the first motor controller, and the rotation speed sensors on the pump motor integrated machine 310 are in communication connection with the second motor controller, so that the corresponding motor controllers can read corresponding rotation speed and torque signals.
As described above, the electric hydraulic parallel driving working machine walking system provided in this embodiment has three driving modes, namely, single-variable pump/motor driving, walking motor and variable pump/motor combined driving, in the single-variable pump/motor driving mode, the advantage that the variable pump/motor integrated machine 310 is matched with the hydraulic accumulator 342 to work at a low speed and a large torque is mainly responsible for starting working conditions, in the single-variable pump/motor driving mode, the advantage that the first electric power generation integrated machine 210 is high in efficiency is mainly responsible for medium and low speed working conditions, in the walking motor and variable pump/motor combined driving mode, when the walking motor and variable pump/motor combined driving mode are responsible for high-speed working conditions, the problem that the torque is insufficient due to the increase of the rotating speed when the first electric power generation integrated machine 210 is in a constant power region is used, when the working conditions such as a shovel stall are responsible for executing, the first electric power generation integrated machine 210 is assisted by using the output torque of the motor integrated machine 310, so that the power level of the first electric power generation integrated machine 210 is greatly reduced. The specific control modes of the electromagnetic directional valves are shown in the following table (the directions shown in the up-down and left-right direction bitmap 1 in the table):
According to the electric hydraulic parallel driving engineering machinery traveling system provided by the embodiment, the hydraulic accumulator-variable pump/motor is adopted to drive the first electric power generation integrated machine 210 serving as a traveling motor in a coupling way through the mechanical transmission part 100 (power coupling box), a torque converter used by a traditional engineering machinery (such as a loader or an excavator) is omitted, under the working condition of near zero rotation speed or peak load, the hydraulic motor (namely the pump motor integrated machine 310) is utilized to assist the motor (namely the first electric power generation integrated machine 210) to output instant large torque, the driving requirement of the limiting working condition is met, the first electric power generation integrated machine 210 only needs to output one average torque, and under the working condition of negative load, the double-energy recovery unit consisting of the hydraulic accumulator 342 and the lithium battery is utilized to realize high-efficiency composite recovery of instant large power and stable small-power energy respectively.
Because the working condition of the engineering machinery such as a loader or an excavator is complex and frequent, so that the braking frequency is high, and the traditional braking system adopts a friction braking mode, the service life of the braking system is difficult to evaluate, so that potential hazards exist in reliability, and in order to solve the problem, the embodiment preferably provides a strategy for providing the energy recovery of a preferential motor braking mode and the energy recovery of a secondary variable pump/motor braking mode, because the efficiency of an electric loop is higher than that of a hydraulic loop, and meanwhile, the energy recovery effect is obvious due to the fact that the braking torque is larger, the cruising capacity of the whole vehicle is greatly improved; when the SOC value is in a state of non-charging or low charging efficiency, the variable pump/motor is used to operate in a pump mode to convert kinetic energy of the running of the working machine into pressure energy and store the pressure energy in the hydraulic accumulator 342, and in particular, when the whole vehicle is running in a high-speed sliding working condition, hydraulic energy recovery can be performed.
Specifically, in terms of energy recovery, it is mainly composed of two parts, namely, energy recovery and regenerative braking, of the working and steering hydraulic device 500. For the energy recovery of the working and steering hydraulic device 500, when the recoverable energy exists in the working and steering hydraulic device 500, the hydraulic accumulator 342 is in a recoverable state, the first two-position two-way electromagnetic reversing valve 340 is operated at a lower station, the second two-position two-way electromagnetic reversing valve 341 is operated at a right station to recover the energy, for regenerative braking, the complete machine controller monitors the SOC value of a lithium battery, when the SOC value is in the recoverable state, the complete machine controller is in communication connection with the complete machine controller, the complete machine controller sends a mode request to the first electric power generation integrated machine 210 through the first motor controller, and the complete machine controller receives an electronic power generation signal, when the complete machine controller is in the recoverable state, the hydraulic accumulator 342 is in a hydraulic state, when the complete machine controller is in a high-speed braking state, the electromagnetic reversing valve is in a hydraulic state, or in a low-level braking state, and the hydraulic energy is not recovered at a right station, when the complete machine controller is in a high-speed braking state, the hydraulic energy is not in a high-level braking state, and the hydraulic pump is in a high-speed braking state, and the hydraulic energy is recovered by the hydraulic pump is in a high-speed state, or a low-level state, and the hydraulic pump is in a high-speed state, and the hydraulic pump is in a state.
When the engineering machinery traveling system provided by the embodiment is applied to engineering machinery, the working principle is that the whole machine controller of the engineering machinery is utilized to collect and process data on feedback rotating speed and feedback torque signals of two motor controllers, electronic accelerator opening signals of the engineering machinery, brake pedal opening signals, pressure feedback signals of pressure sensors of the engineering machinery traveling system, SOC signals of a battery management system and the like, each driving working condition and a braking energy recovery mode are judged, meanwhile, a preset control strategy is executed by the whole machine controller, and control signals are sent to the two motor controllers, the three electromagnetic reversing valves and the four clutches in the embodiment, so that the first electric power generation integrated machine 210 and the pump motor integrated machine 310 are controlled to output power, spool displacement of the three electromagnetic reversing valves and combination or separation of the four clutches are controlled, and each driving working condition and energy recovery mode are realized.
The present invention has been described in detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the above embodiments, and those skilled in the art can make various modifications to the present invention according to the prior art, which are all within the scope of the present invention.
Claims (8)
1. The electric hydraulic parallel driving engineering machinery traveling system is characterized by comprising a mechanical transmission part, an electric driving part, a hydraulic driving part and a traveling executing part, wherein the electric driving part, the hydraulic driving part and the traveling executing part are respectively in transmission connection with the mechanical transmission part, the mechanical transmission part comprises an electric input shaft, a hydraulic input shaft, a power output shaft, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft which are mutually arranged in parallel, the electric input shaft is in transmission connection with the electric driving part, the hydraulic input shaft is in transmission connection with the hydraulic driving part, the power output shaft is in transmission connection with the traveling executing part, an input gear is arranged on the electric input shaft, a first gear and a second gear meshed with the input gear are arranged on the first transmission shaft, a third gear is arranged on the second transmission shaft, a fourth transmission shaft is connected with the hydraulic input shaft through a second clutch, the third gear is arranged on the third transmission shaft, the sixth transmission shaft is in transmission connection with the seventh transmission shaft through the second clutch, the fourth gear is meshed with the fourth gear is arranged on the fourth transmission shaft, the fifth transmission shaft is meshed with the fifth transmission shaft through the fourth clutch, the fourth gear is meshed with the fifth transmission shaft is arranged on the fourth transmission shaft, an eighth gear meshed with the third gear is arranged on the seventh transmission shaft;
the electric driving part comprises a first electric power generation integrated machine, a first motor control module electrically connected with the first electric power generation integrated machine and a charging and discharging battery electrically connected with the first motor control module, and a rotating shaft of the first electric power generation integrated machine is in transmission connection with the electric power input shaft;
The hydraulic driving part comprises a pump motor integrated machine, a main pump, an oil tank connected with an oil inlet of the main pump, a first two-position two-way electromagnetic reversing valve connected with an oil outlet of the main pump, and a three-position four-way electromagnetic reversing valve communicated with the oil outlet of the first two-position two-way electromagnetic reversing valve, an oil return port of the three-position four-way electromagnetic reversing valve is connected with the oil tank, two oil outlets of the three-position four-way electromagnetic reversing valve are respectively connected with two oil ports of the pump motor integrated machine in a one-to-one correspondence manner through a hydraulic oil pipe, two oil supplementing pipes connected with the oil tank are respectively connected with the hydraulic oil pipe, and a one-way valve is arranged on the oil supplementing pipe, and a rotating shaft of the pump motor integrated machine is in transmission connection with a hydraulic input shaft.
2. The electric hydraulic parallel driving type engineering machinery traveling system according to claim 1, wherein an oil outlet of the main pump and two oil ports of the pump motor integrated machine are respectively connected with a first safety valve, and an oil return port of each first safety valve is connected with the oil tank.
3. The electrohydraulic parallel driving engineering machinery traveling system of claim 1, wherein the oil outlet of the first two-position two-way electromagnetic reversing valve is further connected with a second two-position two-way electromagnetic reversing valve, the oil outlet of the second two-position two-way electromagnetic reversing valve is respectively connected with a hydraulic accumulator and a second safety valve, and the oil return ports of the second safety valve are both connected with the oil tank.
4. The electrohydraulic parallel driven traveling system of construction machinery of claim 3, wherein oil outlets of said first two-position two-way electromagnetic directional valve and said second two-position two-way electromagnetic directional valve are respectively connected with a pressure sensor.
5. The electrohydraulic parallel driven work machine traveling system of claim 1, further comprising a work and steering hydraulic device, wherein an oil outlet of said main pump is simultaneously connected to said work and steering hydraulic device.
6. The electrohydraulic parallel driven traveling system of a construction machine of claim 1, wherein a second electric power generation integrated machine is connected to said main pump, a second motor control module is electrically connected to said second electric power generation integrated machine, and said second motor control module is electrically connected to said charge and discharge cell.
7. The electrohydraulic parallel driven work machine traveling system of claim 6, wherein said charge and discharge battery is a lithium battery.
8. The electrohydraulic parallel driven work machine traveling system of claim 1, wherein a filter is installed on an oil outlet of the oil tank.
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| CN202110643348.2A CN113183753B (en) | 2021-06-09 | 2021-06-09 | An electric-hydraulic parallel-driven walking system for construction machinery |
| PCT/CN2022/089150 WO2022257628A1 (en) | 2021-06-09 | 2022-04-26 | Electro-hydraulic parallel driving engineering machinery locomotion system |
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| CN115675069A (en) * | 2022-11-17 | 2023-02-03 | 西南交通大学 | Heavy-duty AGV steering wheel driven by electro-hydrostatic parallel hybrid |
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| US6881165B2 (en) * | 2001-02-07 | 2005-04-19 | Toyota Jidosha Kabushiki Kaisha | Hydraulic control apparatus of vehicle and control method |
| CN101704337B (en) * | 2009-09-25 | 2012-07-11 | 徐工集团工程机械有限公司 | Parallel-connection type hydraulic-electro hybrid power driving system |
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| CN108128212B (en) * | 2017-12-15 | 2021-05-04 | 重庆大学 | A hydraulic auxiliary drive/brake system for electric vehicle and its control method |
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