CN108343646A - A kind of electro-hydraulic hybrid-driven mechanical arm control system and control method - Google Patents
A kind of electro-hydraulic hybrid-driven mechanical arm control system and control method Download PDFInfo
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- CN108343646A CN108343646A CN201711487330.8A CN201711487330A CN108343646A CN 108343646 A CN108343646 A CN 108343646A CN 201711487330 A CN201711487330 A CN 201711487330A CN 108343646 A CN108343646 A CN 108343646A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Abstract
The invention discloses a kind of electro-hydraulic hybrid-driven mechanical arm control system and control methods, the unidirectional variable vane pump and two kinds of dynamical elements of hydra-electric secondary component of Motor Control is arranged in the present invention, and different load type of drive is taken under different loads operating mode.Under light duty, unidirectional variable vane pump fuel feeding at oil supply source, circuit realizes that fast lifting is realized at interflow in valve, single-rod cylinder quick acting in parallel；Under heavily loaded steady rising operating mode, hydra-electric secondary component switches " engine hydraulic pump " pattern, and engine output torque drives hydraulic pump operating, constitutes and pumps control cylinder closed circuit；Gravity lands under operating mode, and hydra-electric secondary component switches " Hydraulic Motor Generator " pattern, the energy driving hydraulic motor output torque that mechanical arm gravity discharges when declining.Reach certain system pressure and falling head, generates electricity with the coaxial generator of hydraulic motor, to charge the battery.
Description
Technical field
The invention belongs to electro-hydraulic mixing control fields, and in particular to a kind of electro-hydraulic hybrid-driven mechanical arm control system and
Control method.
Background technology
In manufacturing industry, industrial robot has become essential mechanical automation equipment.Industrial robot includes
Anthropomorphic robot, wheeled robot are creeped or creepage robot, mechanical arm.Wherein, mechanical arm has fixed activity link, energy
It enough completes some dangerous and big load operations instead of the mankind to work, application scenarios are various.With the continuous propulsion of mechanical automation,
The application of mechanical arm technology is increasingly ripe, and in the multiple fields such as industry, building, logistics, mechanical arm is widely used in reprinting big
The object of type heavy duty, such as discrete building body is docked in house construction, pontic is loaded in bridge construction.
Existing large-duty loader tool arm, to adapt to heavy load operating mode, frequently with high-torque hydraulic pump as power member
Part realizes operating mode by executive components such as hydraulic coupling drive motor or cylinders.To meet bigger loading demand and realizing wider operation
Area, mechanical arm can construct two-tank method circuit, and the synchronizing devices such as setting flow divider-combiner eliminate site error.In different loads
Under the conditions of (be especially lightly loaded condition), single type of drive that pumps causes energy loss to increase, and pressure duct internal heat generation amount increases.Single pump
It drives the stability under big stroke also poor, easily causes oil cylinder trembling or support arm insufficient pressure, seriously affect operation
Effect.
Invention content
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of electro-hydraulic hybrid-driven mechanical arm control system and controls
Method processed improves lifting stability, improves capacity usage ratio, meet the stability and high efficiency job requirements under multi-state and realize energy
Recycling.
In order to achieve the above object, a kind of electro-hydraulic hybrid-driven mechanical arm control system, including setting is on the robotic arm
Two single-rod cylinders in parallel, two single-rod cylinder downstreams are separately connected two bidirectional hydraulic locks, under bidirectional hydraulic lock
Trip is provided with proportional velocity regulating valve, and two proportional velocity regulating valves are all connected with one-way speed-regulating valve, and one-way speed-regulating valve connects the first bi-bit bi-pass
Electromagnetic switch valve and the first two-position two-way electromagnetic directional valve, the first bi-bit bi-pass electromagnetic switch valve connect hydraulic pressure-electric secondary member
Part, hydraulic pressure-electric secondary element connection tachometer of measuring and the second bi-bit bi-pass electromagnetic switch valve, the second bi-bit bi-pass electromagnetism are opened
It closes valve and connects third bi-bit bi-pass electromagnetic switch valve, third bi-bit bi-pass electromagnetic switch valve connects the first bi-bit bi-pass electromagnetic switch
Valve, the first bi-bit bi-pass electromagnetic switch valve connect pressure limiting valve, and pressure limiting valve connects the input terminal of accumulator and back pressure type check valve, stores
Energy device connects two output ends with spring hydraulic control one-way valve, and the output end of first band spring hydraulic control one-way valve connects unidirectional speed governing
The output end of the output end of valve, two single-rod cylinders of the second output end with spring hydraulic control one-way valve, back pressure type check valve connects
The second two-position two-way electromagnetic directional valve is connect, the first two-position two-way electromagnetic directional valve connects four with the second two-position two-way electromagnetic directional valve
Six electric change valves of position, four six electric change valves connect unidirectional variable vane pump, and unidirectional variable vane pump passes through electronic
Machine drives, and two single-rod cylinders are all connected with pressure sensor, resistive position sensor, tachometric survey are provided on mechanical arm
Instrument, resistive position sensor and pressure sensor are all connected with controller, and controller connects frequency converter, and frequency converter connects hydraulic pressure-
Electric secondary element；
Controller is used to acquire the rotating speed letter that tachometer of measuring, resistive position sensor, pressure sensor export respectively
Number, position signal and pressure signal, be converted to feedback control signal, and by being sent to hydraulic pressure-electrical two after frequency converter frequency conversion
Item；
Hydraulic pressure-electric secondary element includes the control unit being connect with frequency converter, and control unit connects engine and hydraulic pressure
Pump, control unit connect the first bi-bit bi-pass electromagnetic switch valve and the second bi-bit bi-pass electromagnetism for switching engine or hydraulic pump
Switch valve.
Hydraulic pressure-electric secondary element connects pressure limiting valve, and pressure limiting valve connects the input terminal of two the first check valves, one of them
First check valve output end connects two single-rod cylinders, the second bi-bit bi-pass electromagnetic switch valve, third bi-bit bi-pass electromagnetism and opens
Valve and the second two-position two-way electromagnetic directional valve are closed, another the first check valve output end connects the output end of one-way speed-regulating valve.
Hydraulic pressure-electric secondary element connects repairing overflow valve, and repairing overflow valve connects the output end of two the second check valves,
The input terminal of one of them the second check valve connect two single-rod cylinders, the second bi-bit bi-pass electromagnetic switch valve, the three or two
The input terminal of two-way electromagnetic switch valve and the second two-position two-way electromagnetic directional valve, another the second check valve connects one-way speed-regulating valve
Output end.
Third bi-bit bi-pass electromagnetic switch valve connects first position switch.
First bi-bit bi-pass electromagnetic switch valve and the second bi-bit bi-pass electromagnetic switch valve are all connected with second position switch.
Proportional velocity regulating valve uses check valve bridge architecture.
A kind of control method of electro-hydraulic hybrid-driven mechanical arm control system, when in underloading fast lifting operating mode,
Four six electric change valves are switched to the first from left position, and second position switch contact is closed, second position switch control the one or two
Two electric change valves and the second two-position two-way electromagnetic directional valve switching left position, the first two-position two-way electromagnetic directional valve and the two or two
Position two electric change valves switching is upper, and the oil circuit of hydraulic pressure-electric secondary element, which is cut off, not to work, unidirectional variable vane pump
Pressure oil port is directly communicated with hydraulic cylinder both ends oil circuit, and high-voltage oil liquid collaborates in four six electric change valve valves, and it is poor to be formed
Dynamic circuit, mechanical arm fast lifting under light duty.
A kind of control method of electro-hydraulic hybrid-driven mechanical arm control system, when in heavily loaded steady raising operating mode,
Four six electric change valves are switched to the second from left position, and third bi-bit bi-pass electromagnetism on-off valve is connected, the first bi-bit bi-pass electromagnetism changes
It is in upper to valve and the second two-position two-way electromagnetic directional valve, unidirectional variable vane pump is low-pressure side repairing, the first bi-bit bi-pass
In an ON state, electrical-hydraulic secondary component accesses circuit, and work for solenoid directional control valve and the second two-position two-way electromagnetic directional valve
Make in " engine-hydraulic pump " pattern, composition pump control cylinder closed circuit, high pressure oil is by opening two ratios after one-way speed-regulating valve
Speed governing valve and two bidirectional hydraulic locks push hydraulic cylinder to be steadily lifted, and at the same time, high pressure oil opens the second band spring hydraulic control list
To valve, it is low-pressure side repairing that accumulator, which releases stress oil, during lifting, pressure sensor output system pressure signal, and electricity
Resistive position sensor exports altitude signal, and tachometer of measuring exports tach signal, will feed back electric signal input by controller
Frequency converter, frequency converter compensate the speed discrepancy of engine, improve raising stability.
A kind of control method of electro-hydraulic hybrid-driven mechanical arm control system, when landing operating mode in gravity, four
Six electric change valves are switched to right position, and first position switch contact is closed at this time, and third bi-bit bi-pass electromagnetism on-off valve obtains electric
It disconnecting, cuts off the connection of pipeline low-pressure side and hydraulic oil source, unidirectional variable vane pump output high pressure oil opens back pressure type check valve,
For accumulator fill can, the first two-position two-way electromagnetic directional valve and the second two-position two-way electromagnetic directional valve in an ON state, it is electrical-
Hydraulic secondary component 16 accesses circuit, and is operated in " hydraulic motor-generator " pattern, by gravity, under single-rod cylinder
Drop, high pressure oil drives hydraulic motor output torque, when heavy load descending operating mode, if meeting descent altitude more than 2/3 with upper cylinder half stroke,
Rotating speed is more than generator rated speed, and the raw electricity of generator coil rotation with motors charges for accumulator, realizes that energy returns
It receives.
Compared with prior art, the unidirectional variable vane pump and hydraulic pressure-electric secondary member of Motor Control is arranged in the present invention
Two kinds of dynamical elements of part, take different load type of drive under different loads operating mode.It is unidirectional at oil supply source under light duty
Variable vane pump fuel feeding, circuit realize that fast lifting is realized at interflow in valve, single-rod cylinder quick acting in parallel；It is heavily loaded steady
Rise under operating mode, hydraulic pressure-electric secondary element switches " engine-hydraulic pump " pattern, and engine output torque drives hydraulic pump
Operating constitutes pump control cylinder closed circuit；Gravity lands under operating mode, hydraulic pressure-electric secondary element switching " hydraulic motor-generator "
Pattern, the energy driving hydraulic motor output torque that mechanical arm gravity discharges when declining.Reaching certain system pressure and decline
Under altitudes, electricity is generated with the coaxial generator of hydraulic motor, to charge the battery.The present invention uses closed loop feedback system
Real-time tele-communication number is fed back, control frequency converter compensation engine speed is poor, improves stationarity under mechanical arm severe duty, improves and synchronizes
Circuit positions precision；Enhance workload-adaptability, promotes the raising stationarity under different operating modes；The recycling of achievable energy and again profit
With.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is present invention underloading raising operating conditions flow chart；
Fig. 3, which is that present invention heavy duty is steady, rises operating conditions flow chart；
Fig. 4 is gravity of the present invention landing operating conditions flow chart；
Wherein, 1, single-rod cylinder, 2, bidirectional hydraulic lock, 3, proportional velocity regulating valve, 4, one-way speed-regulating valve, 5, check valve, 6,
Pressure limiting valve, 7, check valve, 8 repairing overflow valves, 9.1, first band spring hydraulic control one-way valve, the 9.2, second band spring fluid-control one-way
Valve, 10, pressure limiting valve, 11, accumulator, 12, back pressure type check valve, 13, unidirectional variable vane pump, 14, four six logical electromagnetic switch
Valve, 15.1, first position switch, 15.2, second position switch, 16, hydraulic pressure-electric secondary element, 17.1, the 1st two
Logical electromagnetic switch valve, the 17.2, second bi-bit bi-pass electromagnetic switch valve, 18, third bi-bit bi-pass electromagnetic switch valve, 19.1 the 1st
Two electric change valves of position, 19.2 second two-position two-way electromagnetic directional valves, 20, tachometer of measuring, 21, resistive position sensing
Device, 22, pressure sensor.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig. 1, a kind of electro-hydraulic hybrid-driven mechanical arm control system includes two parallel connections of setting on the robotic arm
Single-rod cylinder 1, two 1 downstreams of single-rod cylinder are separately connected two bidirectional hydraulic locks 2, the setting of 2 downstream of bidirectional hydraulic lock
Proportional speed governing valve 3, two proportional velocity regulating valves 3 are all connected with one-way speed-regulating valve 4, and one-way speed-regulating valve 4 connects the first bi-bit bi-pass electricity
Magnetic switch valve 17.1 and the first two-position two-way electromagnetic directional valve 19.1, the first bi-bit bi-pass electromagnetic switch valve 17.1 connect hydraulic pressure-
Electric secondary element 16, hydraulic pressure-electric secondary element 16 connect tachometer of measuring 20 and the second bi-bit bi-pass electromagnetic switch valve
17.2, the second bi-bit bi-pass electromagnetic switch valve 17.2 connects third bi-bit bi-pass electromagnetic switch valve 18, third bi-bit bi-pass electromagnetism
Switch valve 18 connects the first two-position two-way electromagnetic directional valve 19.1, and the first bi-bit bi-pass electromagnetic switch valve 17.1 connects pressure limiting valve
10, pressure limiting valve 10 connects the input terminal of accumulator 11 and back pressure type check valve 12, and accumulator 11 connects two band spring hydraulic control lists
To the output end of valve, the output end of the output end connection one-way speed-regulating valve 4 of first band spring hydraulic control one-way valve 9.1, the second band bullet
The output end of two single-rod cylinders 1 of output end of spring hydraulic control one-way valve 9.2, back pressure type check valve 12 connects the second bi-bit bi-pass
Solenoid directional control valve 19.2, the first two-position two-way electromagnetic directional valve 19.1 and the second two-position two-way electromagnetic directional valve 19.2 connect four
Six electric change valves 14, four six electric change valves 14 connect unidirectional variable vane pump 13, and unidirectional variable vane pump 13 is logical
Motor drive is crossed, two single-rod cylinders 1 are all connected with pressure sensor 22, resistive position sensor is provided on mechanical arm
21, tachometer of measuring 20, resistive position sensor 21 and pressure sensor 22 are all connected with controller, and controller connects frequency conversion
Device, frequency converter connect hydraulic pressure-electric secondary element 16；
Controller exports respectively for acquiring tachometer of measuring 20, resistive position sensor 21, pressure sensor 22
Tach signal, position signal and pressure signal are converted to feedback control signal, and by being sent to hydraulic pressure-after frequency converter frequency conversion
Electric secondary element 16；
Hydraulic pressure-electric secondary element 16 includes the control unit being connect with frequency converter, and control unit connects engine and liquid
Press pump, control unit connect the first bi-bit bi-pass electromagnetic switch valve 17.1 and the two or two two for switching engine or hydraulic pump
Logical electromagnetic switch valve 17.2.
Hydraulic pressure-electric secondary element 16 connects pressure limiting valve 6, and pressure limiting valve 6 connects the input terminal of two the first check valves 5,
In 5 output end of the first check valve connect two single-rod cylinders 1, the second bi-bit bi-pass electromagnetic switch valve the 17.2, the 3rd 2
Position two-way electromagnetic switch valve 18 and the second two-position two-way electromagnetic directional valve 19.2, the connection of another 5 output end of the first check valve are single
To the output end of speed governing valve 4.
Hydraulic pressure-electric secondary element 16 connects repairing overflow valve 8, and repairing overflow valve 8 connects the defeated of two the second check valves 7
The input terminal of outlet, one of them the second check valve 7 connects two single-rod cylinders 1, the second bi-bit bi-pass electromagnetic switch valve
17.2, third bi-bit bi-pass electromagnetic switch valve 18 and the second two-position two-way electromagnetic directional valve 19.2, another the second check valve 7
Input terminal connects the output end of one-way speed-regulating valve 4.
Third bi-bit bi-pass electromagnetic switch valve 18 connects first position switch 15.1, the first bi-bit bi-pass electromagnetic switch valve
17.1 and second bi-bit bi-pass electromagnetic switch valve 17.2 be all connected with second position switch 15.2.
Proportional velocity regulating valve 3 uses check valve bridge architecture.
Referring to Fig. 2, it is lightly loaded fast lifting operating mode：Four six-way transfer valves 14 are switched to 1 left, second position switch 15.2
Contact closure.Second position switch 15.2 controls the first bi-bit bi-pass electromagnetic switch valve 17.1 and the two or two electromagnetic switch valve
17.2 switching left positions, the first two-position two-way electromagnetic directional valve 19.1 and the second two-position two-way electromagnetic directional valve 19.2 switch it is upper,
Hydraulic pressure -16 oil circuit of electric secondary element is cut off and does not work.Unidirectional 13 pressure oil port of variable vane pump directly with hydraulic cylinder both ends
Oil circuit communicates, and high-voltage oil liquid collaborates in four six electric change valves, 14 valves, forms differential circuit.Mechanical arm under light duty
Fast lifting.
Referring to Fig. 3, the steady raising operating mode of heavy duty：Four six-way transfer valves 14 are switched to 2 left, third bi-bit bi-pass electromagnetism
Switch valve 18 is connected, the first two-position two-way electromagnetic directional valve 19.1 and the second two-position two-way electromagnetic directional valve 19.2 are in upper,
Unidirectional variable vane pump 13 is low-pressure side repairing.First bi-bit bi-pass electromagnetic switch valve 17.1 and the two or two electromagnetic switch valve
17.2 in an ON state, and electrical-hydraulic secondary component 16 accesses circuit, and is operated in " engine-hydraulic pump " pattern, forms
Pump control cylinder closed circuit.High pressure oil pushes hydraulic cylinder steadily to lift by opening proportional velocity regulating valve and bidirectional hydraulic lock after pressure limiting valve 6
It rises.At the same time, high pressure oil opens the second band spring hydraulic control one-way valve 9.2, and it is low-pressure side repairing that accumulator, which releases stress oil,.
During lifting, 22 output system pressure signal of pressure sensor, resistive position sensor 21 exports altitude signal, and rotating speed is surveyed
It measures instrument 20 and exports tach signal, electric signal input converter will be fed back by controller, frequency converter compensates the speed discrepancy of engine,
Improve raising stability.
Referring to Fig. 4, gravity landing operating mode：Four six electric change valves 14 are switched to right position, and first position switchs at this time
15.1 contact closures, third bi-bit bi-pass electromagnetic switch valve 18 obtain electrically disconnected, the connection of cut-out pipeline low-pressure side and hydraulic oil source.
Unidirectional variable vane pump 13 exports high pressure oil and opens back pressure type check valve 12, fills energy for accumulator 11.(under raising operating mode, under
Road high pressure oil opens the second band spring hydraulic control one-way valve 9.2 of low pressure oil way one end, and 11 pressure oil output of accumulator is low pressure oil
Road repairing.) the first bi-bit bi-pass electromagnetic switch valve 17.1 and the two or two electromagnetic switch valve 17.2 in an ON state, it is electrical-
Hydraulic secondary component 16 accesses circuit, and is operated in " hydraulic motor-generator " pattern.By gravity, hydraulic cylinder declines, high
Pressure oil drives hydraulic motor output torque.When heavy load descending operating mode, if meeting descent altitude more than 2/3 with upper cylinder half stroke, rotating speed
More than generator rated speed, energy regenerating is realized to charge the battery with the raw electricity of generator coil rotation of motors.
It is lightly loaded in existing scheme under severe duty and is all driven by a pump, energy loss is big and operating efficiency is restricted.This
Scheme is pumped by adding the one-way hydraulic of Motor Control, and fast lifting operating mode is arranged, when can significantly improve underloading and zero load
Mechanical arm operating efficiency.
It is easily shaken when severe duty raising in existing scheme, raising is difficult when operation height is larger.This programme setting is multiple
When mechanism ensures mechanical arm heavy-duty lifting operating mode, pressure is constant and raising is steady：1, accumulator is to low-pressure side fuel feeding.2, unidirectional liquid
Press pump is to low-pressure side fuel feeding.3, check valve bridge architecture is arranged in proportional velocity regulating valve, and an only oil circuit can transmit fluid, another oil
Road is acted on by high pressure oil and being closed, and is avoided " falling arm ".4, closed feedback loop exports feedback electric signal in real time, and control frequency converter is to hair
Motivation carries out slip compensation.
Use the scheme energy loss of power landing very big in the prior art, existing gravity landing scheme does not account for then
Gravitional force efficiently uses.Electrical-hydraulic secondary component is introduced in this programme, and " hydraulic motor-is switched to when gravity lands
The potential energy of weight can be motor torque, reach certain system pressure and falling head situation by generator " pattern
Under, motor drives generator, charges for accumulator, realizes effective recycling of energy.
This programme introduces the higher proportional velocity regulating valve of positional precision, can meet the higher precision operation under complex working condition
Demand.The device also there is certain speed adjustable range can be adjusted in real time by the opening of electric signal synchronous adjustment proportional velocity regulating valve
Whole mechanical arm raising or sinking speed.
Claims (9)
1. a kind of electro-hydraulic hybrid-driven mechanical arm control system, which is characterized in that including being arranged on the robotic arm two simultaneously
The single-rod cylinder (1) of connection, two single-rod cylinder (1) downstreams are separately connected two bidirectional hydraulic locks (2), bidirectional hydraulic lock
(2) downstream is provided with proportional velocity regulating valve (3), and two proportional velocity regulating valves (3) are all connected with one-way speed-regulating valve (4), one-way speed-regulating valve (4)
Connect the first bi-bit bi-pass electromagnetic switch valve (17.1) and the first two-position two-way electromagnetic directional valve (19.1), the first bi-bit bi-pass electricity
Magnetic switch valve (17.1) connects hydraulic pressure-electric secondary element (16), and hydraulic pressure-electric secondary element (16) connects tachometer of measuring
(20) and the second bi-bit bi-pass electromagnetic switch valve (17.2), the second bi-bit bi-pass electromagnetic switch valve (17.2) connect the three or two two
Logical electromagnetic switch valve (18), third bi-bit bi-pass electromagnetic switch valve (18) connect the first two-position two-way electromagnetic directional valve (19.1),
First bi-bit bi-pass electromagnetic switch valve (17.1) connects pressure limiting valve (10), and pressure limiting valve (10) connects accumulator (11) and back pressure type list
To the input terminal of valve (12), accumulator (11) connects two output ends with spring hydraulic control one-way valve, first band spring hydraulic control list
To the output end of the output end of valve (9.1) connection one-way speed-regulating valve (4), the second output end with spring hydraulic control one-way valve (9.2)
The output end of two single-rod cylinders (1), back pressure type check valve (12) connects the second two-position two-way electromagnetic directional valve (19.2), the
One two-position two-way electromagnetic directional valve (19.1) and the second two-position two-way electromagnetic directional valve (19.2) connect four six logical electromagnetic switch
Valve (14), four six electric change valves (14) connect unidirectional variable vane pump (13), and unidirectional variable vane pump (13) passes through electricity
Motivation drives, and two single-rod cylinders (1) are all connected with pressure sensor (22), resistive position sensor is provided on mechanical arm
(21), tachometer of measuring (20), resistive position sensor (21) and pressure sensor (22) are all connected with controller, and controller connects
Frequency converter is connect, frequency converter connects hydraulic pressure-electric secondary element (16)；
Controller exports respectively for acquiring tachometer of measuring (20), resistive position sensor (21), pressure sensor (22)
Tach signal, position signal and pressure signal, be converted to feedback control signal, and by being sent to liquid after frequency converter frequency conversion
Piezo-electric gas secondary component (16)；
Hydraulic pressure-electric secondary element (16) includes the control unit being connect with frequency converter, and control unit connects engine and hydraulic pressure
Pump, control unit connect the first bi-bit bi-pass electromagnetic switch valve (17.1) and the two or two two for switching engine or hydraulic pump
Logical electromagnetic switch valve (17.2).
2. a kind of electro-hydraulic hybrid-driven mechanical arm control system according to claim 1, which is characterized in that liquid piezo-electric
Gas secondary component (16) connects pressure limiting valve (6), and pressure limiting valve (6) connects the input terminal of two the first check valves (5), one of them the
One check valve (5) output end connect two single-rod cylinders (1), the second bi-bit bi-pass electromagnetic switch valve (17.2), the three or two
Two-way electromagnetic switch valve (18) and the second two-position two-way electromagnetic directional valve (19.2), another the first check valve (5) output end connect
Connect the output end of one-way speed-regulating valve (4).
3. a kind of electro-hydraulic hybrid-driven mechanical arm control system according to claim 1, which is characterized in that liquid piezo-electric
Gas secondary component (16) connects repairing overflow valve (8), and repairing overflow valve (8) connects the output end of two the second check valves (7),
In the input terminal of second check valve (7) connect two single-rod cylinders (1), the second bi-bit bi-pass electromagnetic switch valve
(17.2), third bi-bit bi-pass electromagnetic switch valve (18) and the second two-position two-way electromagnetic directional valve (19.2), another second list
To the output end of the input terminal of valve (7) connection one-way speed-regulating valve (4).
4. a kind of electro-hydraulic hybrid-driven mechanical arm control system according to claim 1, which is characterized in that the three or two
Two-way electromagnetic switch valve (18) connects first position switch (15.1).
5. a kind of electro-hydraulic hybrid-driven mechanical arm control system according to claim 1, which is characterized in that the one or two
Two-way electromagnetic switch valve (17.1) and the second bi-bit bi-pass electromagnetic switch valve (17.2) are all connected with second position switch (15.2).
6. a kind of electro-hydraulic hybrid-driven mechanical arm control system according to claim 1, which is characterized in that proportionality velocity modulation
Valve (3) uses check valve bridge architecture.
7. a kind of control method of electro-hydraulic hybrid-driven mechanical arm control system described in any one of claim 1-6,
It is characterized in that, when in underloading fast lifting operating mode, four six electric change valves (14) are switched to the first from left position, second
Switch (15.2) contact closure is set, the second position switchs (15.2) and controls the first two-position two-way electromagnetic directional valve (17.1) and second
Two-position two-way electromagnetic directional valve (17.2) switches left position, the first two-position two-way electromagnetic directional valve (19.1) and the second bi-bit bi-pass electricity
Magnetic reversal valve (19.2) switching is upper, and the oil circuit of hydraulic pressure-electric secondary element (16), which is cut off, not to work, unidirectional variable vane pump
(13) pressure oil port is directly communicated with hydraulic cylinder both ends oil circuit, and high-voltage oil liquid closes in four six electric change valves (14) valves
It flows, formation differential circuit, mechanical arm fast lifting under light duty.
8. a kind of control method of electro-hydraulic hybrid-driven mechanical arm control system described in any one of claim 1-6,
It is characterized in that, when in heavily loaded steady raising operating mode, four six electric change valves (14) are switched to the second from left position, the three or two
Position two-way electromagnetism on-off valve (18) connection, the first two-position two-way electromagnetic directional valve (19.1) and the second two-position two-way electromagnetic directional valve
(19.2) be in it is upper, unidirectional variable vane pump (13) be low-pressure side repairing, the first two-position two-way electromagnetic directional valve (17.1) and
In an ON state, electrical-hydraulic secondary component (16) accesses circuit to second two-position two-way electromagnetic directional valve (17.2), and works
In " engine-hydraulic pump " pattern, composition pump control cylinder closed circuit, high pressure oil opens two ratios by one-way speed-regulating valve (4) afterwards
Example speed governing valve (3) and two bidirectional hydraulic locks (2) push hydraulic cylinder to be steadily lifted, and at the same time, high pressure oil opens the second band bullet
Spring hydraulic control one-way valve (9.2), it is low-pressure side repairing that accumulator (11), which releases stress oil, during lifting, pressure sensor
(22) output system pressure signal, resistive position sensor (21) export altitude signal, and tachometer of measuring (20) exports rotating speed
Signal will feed back electric signal input converter by controller, and frequency converter compensates the speed discrepancy of engine, improves raising and stablizes
Property.
9. a kind of control method of electro-hydraulic hybrid-driven mechanical arm control system described in any one of claim 1-6,
It is characterized in that, when landing operating mode in gravity, four six electric change valves (14) are switched to right position, at this time first position
(15.1) contact closure is switched, third bi-bit bi-pass electromagnetism on-off valve (18) obtains electrically disconnected, cut-out pipeline low-pressure side and hydraulic oil
The connection in source, unidirectional variable vane pump (13) output high pressure oil open back pressure type check valve (12), fill energy for accumulator (11), the
One two-position two-way electromagnetic directional valve (17.1) and the second two-position two-way electromagnetic directional valve (17.2) in an ON state, electric solution-air
It presses secondary component 16 to access circuit, and is operated in " hydraulic motor-generator " pattern, by gravity, under single-rod cylinder (1)
Drop, high pressure oil drives hydraulic motor output torque, when heavy load descending operating mode, if meeting descent altitude more than 2/3 with upper cylinder half stroke,
Rotating speed is more than generator rated speed, and the raw electricity of generator coil rotation with motors charges for accumulator (11), realizes energy
Amount recycling.
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| CN109336005A (en) * | 2018-10-24 | 2019-02-15 | 浙江大学 | A kind of electric fork vehicle external energy saver and energy-saving control method |
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