CN108343646B - Electro-hydraulic hybrid driving type mechanical arm control system and control method - Google Patents
Electro-hydraulic hybrid driving type mechanical arm control system and control method Download PDFInfo
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- CN108343646B CN108343646B CN201711487330.8A CN201711487330A CN108343646B CN 108343646 B CN108343646 B CN 108343646B CN 201711487330 A CN201711487330 A CN 201711487330A CN 108343646 B CN108343646 B CN 108343646B
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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 an electrohydraulic hybrid driving type mechanical arm control system and a control method. Under the light load working condition, the unidirectional variable vane pump at the oil supply source supplies oil, the loop realizes the confluence in the valve, and the parallel single-rod hydraulic cylinder fast action realizes the fast lifting; under the heavy-load stable ascending working condition, the hydraulic-electric secondary element switches an engine-hydraulic pump mode, and the engine outputs torque to drive the hydraulic pump to operate so as to form a pump control cylinder closed loop; under the gravity drop working condition, the hydraulic-electric secondary element switches the mode of a hydraulic motor-generator, and the energy released when the gravity of the mechanical arm drops drives the hydraulic motor to output torque. Under the condition of reaching a certain system pressure and descending height, the electric power is generated by a generator coaxial with the hydraulic motor to charge the storage battery.
Description
Technical Field
The invention belongs to the field of electrohydraulic hybrid control, and particularly relates to an electrohydraulic hybrid driving type mechanical arm control system and a control method.
Background
Industrial robots have become an indispensable mechanical automation device in the manufacturing industry. Industrial robots include humanoid robots, wheeled robots, crawling or peristaltic robots, and robotic arms. The mechanical arm has fixed movable links, can replace human beings to finish dangerous and heavy-load operation labor, and has various application scenes. With the continuous advancement of mechanical automation, the application of mechanical arm technology has become mature, and in a plurality of fields such as industry, construction, logistics, etc., mechanical arms are widely applied to transfer large heavy objects, for example, docking discrete building bodies in house construction and loading bridge bodies in bridge construction.
In order to adapt to heavy load working conditions, the existing large loading mechanical arm usually adopts a high-torque hydraulic pump as a power element, and the working conditions are realized by driving a motor or a cylinder and other executing elements through hydraulic pressure. In order to meet larger load demands and realize wider working area, the mechanical arm can construct a double-cylinder synchronous loop, and position errors are eliminated by arranging equivalent devices such as a flow dividing and collecting valve. Under different load conditions (especially light load conditions), the energy loss is increased by a single pump driving mode, and the heating value in the high-pressure pipeline is increased. The stability of single pump drive under the large stroke is also comparatively poor, easily causes hydro-cylinder to vibrate or support arm pressure is not enough, seriously influences the operation effect.
Disclosure of Invention
The invention aims to overcome the defects, and provides an electrohydraulic hybrid driving type mechanical arm control system and a control method, which are used for improving lifting stability, improving energy utilization rate, meeting the requirements of stable and efficient operation under multiple working conditions and realizing energy recovery and reutilization.
In order to achieve the aim, the electrohydraulic hybrid driving type mechanical arm control system comprises two parallel single-rod hydraulic cylinders arranged on a mechanical arm, wherein the downstream of the two single-rod hydraulic cylinders is respectively connected with two bidirectional hydraulic locks, the downstream of the bidirectional hydraulic locks is provided with a proportional speed regulating valve, the two proportional speed regulating valves are both connected with a one-way speed regulating valve, the one-way speed regulating valve is connected with a first two-position two-way electromagnetic switch valve and a first two-position two-way electromagnetic reversing valve, the first two-position two-way electromagnetic switch valve is connected with a hydraulic-electric secondary element, the hydraulic-electric secondary element is connected with a rotating speed measuring instrument and a second two-position two-way electromagnetic switch valve, the second two-position two-way electromagnetic switch valve is connected with a third two-position two-way electromagnetic switch valve, the third two-position two-way electromagnetic switch valve is connected with a first two-position two-electromagnetic reversing valve, the first two-position two-way electromagnetic switch valve is connected with a pressure limiting valve, the pressure limiting valve is connected with the input ends of the energy accumulator and the back pressure type one-way valve, the energy accumulator is connected with the output ends of the two hydraulic control one-way valves with springs, the output end of the first hydraulic control one-way valve with springs is connected with the output end of the one-way speed regulating valve with springs, the output end of the second hydraulic control one-way valve with springs is connected with the second two-position two-way electromagnetic reversing valve, the first two-position two-way electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve are connected with the four-position six-way electromagnetic reversing valve, the four-position six-way electromagnetic reversing valve is connected with the one-way variable vane pump, the one-way variable vane pump is driven by a motor, the two single-rod hydraulic cylinders are connected with pressure sensors, the mechanical arm is provided with a resistance type position sensor, the rotating speed measuring instrument, the resistance type position sensor and the pressure sensor are all connected with the controller, the controller is connected with the frequency converter, the frequency converter is connected with the hydraulic-electric secondary element;
the controller is used for collecting a rotating speed signal, a position signal and a pressure signal which are respectively output by the rotating speed measuring instrument, the resistance type position sensor and the pressure sensor, converting the rotating speed signal, the position signal and the pressure signal into feedback control signals, converting the feedback control signals into frequency conversion by the frequency converter and then transmitting the frequency conversion signals to the hydraulic-electric secondary element;
the hydraulic-electric secondary element comprises a control unit connected with the frequency converter, the control unit is connected with the engine and the hydraulic pump, and the control unit is used for switching the engine or the hydraulic pump to be connected with the first two-position two-way electromagnetic switch valve and the second two-position two-way electromagnetic switch valve.
The hydraulic-electric secondary element is connected with the pressure limiting valve, the pressure limiting valve is connected with the input ends of two first one-way valves, one of the output ends of the first one-way valves is connected with the output ends of two single-rod hydraulic cylinders, the second two-position two-way electromagnetic switch valve, the third two-position two-way electromagnetic switch valve and the second two-position two-way electromagnetic reversing valve, and the other output end of the first one-way valve is connected with the output end of the one-way speed regulating valve.
The hydraulic-electric secondary element is connected with an oil supplementing overflow valve, the oil supplementing overflow valve is connected with the output ends of two second one-way valves, the input end of one second one-way valve is connected with two single-rod hydraulic cylinders, a second two-position two-way electromagnetic switch valve, a third two-position two-way electromagnetic switch valve and a second two-position two-way electromagnetic reversing valve, and the input end of the other second one-way valve is connected with the output end of the one-way speed regulating valve.
The third two-position two-way electromagnetic switch valve is connected with the first position switch.
The first two-position two-way electromagnetic switch valve and the second two-position two-way electromagnetic switch valve are both connected with the second position switch.
The proportional speed regulating valve adopts a one-way valve bridge type structure.
The control method of the electrohydraulic hybrid driving mechanical arm control system is characterized in that when the control system is in a light-load rapid lifting working condition, a four-position six-way electromagnetic reversing valve is switched to the left position, a second position switch is closed in a contact manner, the second position switch controls a first two-position two-way electromagnetic reversing valve and a second two-position two-way electromagnetic reversing valve to switch the left position, the first two-position two-way electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve to switch the upper position, an oil way of a hydraulic-electric secondary element is cut off and does not work, a pressure oil port of a one-way variable vane pump is directly communicated with oil ways at two ends of a hydraulic cylinder, high-pressure oil flows in the four-position six-way electromagnetic reversing valve to form a differential loop, and the mechanical arm is rapidly lifted under the light-load working condition.
The control method of electrohydraulic hybrid driving mechanical arm control system includes switching four-position six-way electromagnetic directional valve to left position when in heavy load stable lifting condition, switching on the third two-position two-way electromagnetic directional valve, switching on the first two-position two-way electromagnetic directional valve and the second two-position two-way electromagnetic directional valve, outputting system pressure signal by the pressure sensor, outputting high-pressure signal by the resistance type position sensor, outputting rotating speed signal by the rotating speed measuring instrument, inputting feedback electric signal to the frequency converter, compensating rotating speed difference of the engine by the frequency converter, and improving lifting stability.
A control method of an electrohydraulic hybrid drive type mechanical arm control system is characterized in that when the control system is in a gravity drop working condition, a four-position six-way electromagnetic reversing valve is switched to a right position, a first position switch is in contact and closed at the moment, a third two-position two-way electromagnetic on-off valve is electrically disconnected, the connection between the low pressure side of a pipeline and a hydraulic oil source is cut off, a one-way variable vane pump outputs high-pressure oil to open a back-pressure one-way valve to charge an energy accumulator, the first two-position two-way electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve are in an on state, an electric-hydraulic secondary element 16 is connected into a loop and works in a 'hydraulic motor-generator' mode, under the action of gravity, a single-rod hydraulic cylinder drops, the high-pressure oil drives the hydraulic motor to output torque, and when the heavy load drop working condition is met, the drop height is more than 2/3 cylinder stroke, the rotating speed is higher than the rated rotating speed of the generator coil coaxial with the motor to rotate to generate electricity, and charge the energy accumulator.
Compared with the prior art, the invention is provided with the unidirectional variable vane pump controlled by the motor and the hydraulic-electric secondary element, and adopts different load driving modes under different load working conditions. Under the light load working condition, the unidirectional variable vane pump at the oil supply source supplies oil, the loop realizes the confluence in the valve, and the parallel single-rod hydraulic cylinder fast action realizes the fast lifting; under the heavy-load stable ascending working condition, the hydraulic-electric secondary element switches an engine-hydraulic pump mode, and the engine outputs torque to drive the hydraulic pump to operate so as to form a pump control cylinder closed loop; under the gravity drop working condition, the hydraulic-electric secondary element switches the mode of a hydraulic motor-generator, and the energy released when the gravity of the mechanical arm drops drives the hydraulic motor to output torque. Under the condition of reaching a certain system pressure and descending height, the electric power is generated by a generator coaxial with the hydraulic motor to charge the storage battery. The invention adopts a closed loop feedback system to feed back real-time electric signals, controls the frequency converter to compensate the engine speed difference, improves the stability of the mechanical arm under the heavy load working condition, and improves the position accuracy of the synchronous loop; load adaptability is enhanced, and lifting stability under different working conditions is improved; the recovery and the reutilization of energy can be realized.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a flow chart of the light load lifting condition control of the invention;
FIG. 3 is a flow chart of the heavy load steady-rise condition control of the present invention;
FIG. 4 is a flow chart of the gravity drop condition control of the present invention;
the hydraulic control system comprises a single-rod hydraulic cylinder, a two-way hydraulic lock, a 3, a proportional speed regulating valve, a 4, a one-way speed regulating valve, a 5, a one-way valve, a 6, a pressure limiting valve, a 7, a one-way valve, an 8-way oil supplementing overflow valve, a 9.1, a first spring-loaded hydraulic control one-way valve, a 9.2, a second spring-loaded hydraulic control one-way valve, a 10, a pressure limiting valve, a 11, an accumulator, a 12, a back pressure one-way valve, a 13, a one-way variable vane pump, a 14, a four-position six-way electromagnetic reversing valve, a 15.1, a first position switch, a 15.2, a second position switch, a 16, a hydraulic-electric secondary element, a 17.1, a first two-position two-way electromagnetic switching valve, a 17.2, a second two-position electromagnetic switching valve, a 18, a third two-position electromagnetic switching valve, a 19.1 first two-position electromagnetic reversing valve, a 19.2 second two-position electromagnetic reversing valve, a 20, a rotation speed measuring instrument, a 21, a resistive position sensor, a 22 and a pressure sensor.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, an electrohydraulic hybrid driving type mechanical arm control system comprises two parallel single-rod hydraulic cylinders 1 arranged on a mechanical arm, wherein the downstream of the two single-rod hydraulic cylinders 1 is respectively connected with two bidirectional hydraulic locks 2, the downstream of the bidirectional hydraulic locks 2 is provided with a proportional speed regulating valve 3, the two proportional speed regulating valves 3 are both connected with a one-way speed regulating valve 4, the one-way speed regulating valve 4 is connected with a first two-position two-way electromagnetic switch valve 17.1 and a first two-position two-way electromagnetic switch valve 19.1, the first two-position two-way electromagnetic switch valve 17.1 is connected with a hydraulic-electric secondary element 16, the hydraulic-electric secondary element 16 is connected with a rotating speed measuring instrument 20 and a second two-position two-way electromagnetic switch valve 17.2, the second two-position two-way electromagnetic switch valve 17.2 is connected with a third two-position two-way electromagnetic switch valve 18, the third two-position two-way electromagnetic switch valve 18 is connected with the first two-position two-way electromagnetic switch valve 19.1, the first two-position two-way electromagnetic switch valve 17.1 is connected with the pressure limiting valve 10, the pressure limiting valve 10 is connected with the input ends of the energy accumulator 11 and the back pressure type one-way valve 12, the energy accumulator 11 is connected with the output ends of the two spring-loaded hydraulic control one-way valves, the output end of the first spring-loaded hydraulic control one-way valve 9.1 is connected with the output end of the one-way speed regulating valve 4, the output end of the second spring-loaded hydraulic control one-way valve 9.2 is connected with the two-position two-way electromagnetic switch valve 19.2, the first two-position two-way electromagnetic switch valve 19.1 and the second two-position two-way electromagnetic switch valve 19.2 are connected with the four-position six-way electromagnetic switch valve 14, the four-position six-way electromagnetic switch valve 14 is connected with the one-way variable vane pump 13, the one-way variable vane pump 13 is driven by a motor, the two single-rod hydraulic cylinders 1 are connected with the pressure sensor 22, the mechanical arm is provided with the resistance type position sensor 21, the speed measuring instrument 20, the resistance type position sensor 21 and the pressure sensor 22 are both connected with a controller, the controller is connected with a frequency converter, and the frequency converter is connected with the hydraulic-electric secondary element 16;
the controller is used for collecting the rotation speed signal, the position signal and the pressure signal respectively output by the rotation speed measuring instrument 20, the resistance type position sensor 21 and the pressure sensor 22, converting the rotation speed signal, the position signal and the pressure signal into feedback control signals, converting the feedback control signals through a frequency converter, and transmitting the feedback control signals to the hydraulic-electric secondary element 16;
the hydro-electric secondary element 16 comprises a control unit connected to the frequency converter, the control unit being connected to the engine and the hydraulic pump, the control unit being adapted to switch the engine or the hydraulic pump to connect the first two-position two-way electromagnetic switch valve 17.1 and the second two-position two-way electromagnetic switch valve 17.2.
The hydraulic-electric secondary element 16 is connected with the pressure limiting valve 6, the pressure limiting valve 6 is connected with the input ends of two first one-way valves 5, the output end of one first one-way valve 5 is connected with the output ends of two single-rod hydraulic cylinders 1, the second two-position two-way electromagnetic switch valve 17.2, the third two-position two-way electromagnetic switch valve 18 and the second two-position two-way electromagnetic directional valve 19.2, and the output end of the other first one-way valve 5 is connected with the output end of the one-way speed regulating valve 4.
The hydraulic-electric secondary element 16 is connected with the oil supplementing overflow valve 8, the oil supplementing overflow valve 8 is connected with the output ends of two second one-way valves 7, the input end of one second one-way valve 7 is connected with the output ends of two single-rod hydraulic cylinders 1, the second two-position two-way electromagnetic switch valve 17.2, the third two-position two-way electromagnetic switch valve 18 and the second two-position two-way electromagnetic directional valve 19.2, and the input end of the other second one-way valve 7 is connected with the output end of the one-way speed regulating valve 4.
The third two-position two-way electromagnetic switch valve 18 is connected with the first position switch 15.1, and the first two-position two-way electromagnetic switch valve 17.1 and the second two-position two-way electromagnetic switch valve 17.2 are both connected with the second position switch 15.2.
The proportional speed regulating valve 3 adopts a one-way valve bridge type structure.
Referring to fig. 2, the light load fast lifting working condition: the four-position six-way reversing valve 14 is switched to the left 1 position and the second position switch 15.2 is closed in contact. The second position switch 15.2 controls the first two-position two-way electromagnetic switch valve 17.1 and the second two-position electromagnetic switch valve 17.2 to switch the left position, the first two-position two-way electromagnetic directional valve 19.1 and the second two-position two-way electromagnetic directional valve 19.2 to switch the upper position, and the oil circuit of the hydraulic-electric secondary element 16 is cut off and does not work. The pressure oil port of the unidirectional variable vane pump 13 is directly communicated with oil paths at two ends of the hydraulic cylinder, and high-pressure oil is converged in a four-position six-way electromagnetic reversing valve 14 to form a differential loop. And under the light load working condition, the mechanical arm is lifted quickly.
Referring to fig. 3, the heavy load steady lifting condition: the four-position six-way reversing valve 14 is switched to the left 2-position, the third two-position two-way electromagnetic switch valve 18 is switched on, the first two-position two-way electromagnetic reversing valve 19.1 and the second two-position two-way electromagnetic reversing valve 19.2 are in the upper position, and the unidirectional variable vane pump 13 supplements oil for the low pressure side. The first two-position two-way electromagnetic switch valve 17.1 and the second two-position electromagnetic switch valve 17.2 are in a connection state, and the electro-hydraulic secondary element 16 is connected into a loop and works in an engine-hydraulic pump mode to form a pump control cylinder closed loop. The high-pressure oil passes through the pressure limiting valve 6 and then opens the proportional speed regulating valve and the bidirectional hydraulic lock to push the hydraulic cylinder to stably lift. At the same time, the high-pressure oil opens the second hydraulic control one-way valve 9.2 with the spring, and the pressure oil is released by the energy accumulator to supplement oil for the low-pressure side. In the lifting process, the pressure sensor 22 outputs a system pressure signal, the resistance type position sensor 21 outputs a height signal, the rotation speed measuring instrument 20 outputs a rotation speed signal, a feedback electric signal is input into the frequency converter through the controller, and the frequency converter compensates the rotation speed difference of the engine, so that the lifting stability is improved.
Referring to fig. 4, gravity drop conditions: the four-position six-way electromagnetic reversing valve 14 is switched to the right position, at the moment, the first position switch 15.1 is closed in a contact way, the third two-position two-way electromagnetic switching valve 18 is electrically disconnected, and the connection between the low-pressure side of the pipeline and a hydraulic oil source is cut off. The unidirectional variable vane pump 13 outputs high-pressure oil to open the back pressure type unidirectional valve 12 to charge the energy accumulator 11. (under lifting working condition, the high-pressure oil of the lower way opens the second hydraulic control one-way valve 9.2 with the spring at one end of the low-pressure oil way, the pressure oil output by the accumulator 11 is the low-pressure oil way oil supplement.) the first two-position two-way electromagnetic switch valve 17.1 and the second two-position electromagnetic switch valve 17.2 are in a connection state, and the electro-hydraulic secondary element 16 is connected into a loop and works in a 'hydraulic motor-generator' mode. Under the action of gravity, the hydraulic cylinder descends, and the high-pressure oil drives the hydraulic motor to output torque. And when the heavy load descends, if the falling height is more than 2/3 of the stroke of the cylinder, the rotating speed is more than the rated rotating speed of the generator, and the generator coil coaxial with the motor rotates to generate electricity to charge the storage battery, so that energy recovery is realized.
In the existing scheme, the pump is driven under the working condition of light load and heavy load, the energy loss is large, and the working efficiency is limited. According to the scheme, the unidirectional hydraulic pump controlled by the motor is additionally arranged, the rapid lifting working condition is set, and the operation efficiency of the mechanical arm in light load and no-load can be remarkably improved.
In the existing scheme, the heavy load working condition is easy to shake when lifting, and lifting is difficult when the working height is large. When this scheme sets up a plurality of mechanisms and ensures that the arm heavy load plays to rise the operating mode, pressure is invariable and play to rise steadily: 1. the accumulator supplies oil to the low pressure side. 2. The one-way hydraulic pump supplies oil to the low pressure side. 3. The proportional speed regulating valve is provided with a one-way valve bridge structure, only one oil way can transmit oil, and the other oil way is closed under the action of high-pressure oil, so that the arm falling is avoided. 4. The closed loop feedback loop outputs feedback electric signals in real time, and controls the frequency converter to perform slip compensation on the engine.
In the prior art, the power drop scheme has great energy loss, and the existing gravity drop scheme does not consider the effective utilization of gravitational potential energy. According to the scheme, an electric-hydraulic secondary element is introduced, the hydraulic motor-generator mode is switched when gravity drops, potential energy of a heavy object can be converted into motor torque, and under the condition that certain system pressure and descending height are achieved, the motor drives the generator to charge the energy accumulator, so that effective recycling of energy is achieved.
The proportional speed regulating valve with higher position precision is introduced in the scheme, and the higher precision operation requirement under the complex working condition can be met. The device also has a certain speed regulation range, and the lifting or falling speed of the mechanical arm can be adjusted in real time by synchronously adjusting the opening of the proportional speed regulation valve through an electric signal.
Claims (7)
1. The electrohydraulic hybrid driving type mechanical arm control system is characterized by comprising two parallel single-rod hydraulic cylinders (1) arranged on a mechanical arm, wherein the downstream of the two single-rod hydraulic cylinders (1) is respectively connected with two bidirectional hydraulic locks (2), the downstream of each bidirectional hydraulic lock (2) is provided with a proportional speed regulating valve (3), the two proportional speed regulating valves (3) are both connected with a one-way speed regulating valve (4), the one-way speed regulating valve (4) is connected with a first two-position two-way electromagnetic switch valve (17.1) and a first two-position two-way electromagnetic switch valve (19.1), the first two-position two-way electromagnetic switch valve (17.1) is connected with a hydraulic-electric secondary element (16), the hydraulic-electric secondary element (16) is connected with a rotating speed measuring instrument (20) and a second two-position two-way electromagnetic switch valve (17.2), the second two-position two-way electromagnetic switch valve (17.2) is connected with a third two-position two-way electromagnetic switch valve (18), the third two-position two-way electromagnetic switch valve (18) is connected with a first two-position two-electromagnetic switch valve (19.1), the first two-position two-way electromagnetic switch valve (17.1) is connected with a pressure-limiting valve (10) and a back pressure-controlled spring end (11) is connected with an output end of the two-way valve (11) of the one-way accumulator valve (4), the output end of the second hydraulic control one-way valve (9.2) with the spring is provided with two single-rod hydraulic cylinders (1), the output end of the back pressure one-way valve (12) is connected with a second two-position two-way electromagnetic reversing valve (19.2), the first two-position two-way electromagnetic reversing valve (19.1) and the second two-position two-way electromagnetic reversing valve (19.2) are connected with a four-position six-way electromagnetic reversing valve (14), the four-position six-way electromagnetic reversing valve (14) is connected with a one-way variable vane pump (13), the one-way variable vane pump (13) is driven by a motor, the two single-rod hydraulic cylinders (1) are connected with a pressure sensor (22), the mechanical arm is provided with a resistance type position sensor (21), the rotating speed measuring instrument (20), the resistance type position sensor (21) and the pressure sensor (22) are connected with a controller, the controller is connected with a frequency converter, and the frequency converter is connected with a hydraulic-electric secondary element (16);
the controller is used for collecting a rotating speed signal, a position signal and a pressure signal which are respectively output by the rotating speed measuring instrument (20), the resistance type position sensor (21) and the pressure sensor (22), converting the rotating speed signal, the position signal and the pressure signal into feedback control signals, converting the feedback control signals into frequency conversion by the frequency converter and then transmitting the frequency conversion signals to the hydraulic-electric secondary element (16);
the hydraulic-electric secondary element (16) comprises a control unit connected with the frequency converter, the control unit is connected with the engine and the hydraulic pump, and the control unit is used for switching the engine or the hydraulic pump to be connected with the first two-position two-way electromagnetic switch valve (17.1) and the second two-position two-way electromagnetic switch valve (17.2);
the third two-position two-way electromagnetic switch valve (18) is connected with the first position switch (15.1);
the first two-position two-way electromagnetic switch valve (17.1) and the second two-position two-way electromagnetic switch valve (17.2) are both connected with the second position switch (15.2).
2. The electro-hydraulic hybrid drive type mechanical arm control system according to claim 1, wherein the hydraulic-electric secondary element (16) is connected with the pressure limiting valve (6), the pressure limiting valve (6) is connected with the input ends of two first one-way valves (5), the output end of one first one-way valve (5) is connected with the output ends of two single-rod hydraulic cylinders (1), the second two-position two-way electromagnetic switch valve (17.2), the third two-position two-way electromagnetic switch valve (18) and the second two-position two-way electromagnetic switch valve (19.2), and the output end of the other first one-way valve (5) is connected with the output end of the one-way speed regulating valve (4).
3. The electrohydraulic hybrid driving type mechanical arm control system of claim 1, characterized in that the hydraulic-electric secondary element (16) is connected with an oil compensating overflow valve (8), the oil compensating overflow valve (8) is connected with the output ends of two second one-way valves (7), the input end of one second one-way valve (7) is connected with the output ends of two single-rod hydraulic cylinders (1), a second two-position two-way electromagnetic switch valve (17.2), a third two-position two-way electromagnetic switch valve (18) and a second two-position two-way electromagnetic directional valve (19.2), and the input end of the other second one-way valve (7) is connected with the output end of the one-way speed regulating valve (4).
4. The electro-hydraulic hybrid drive type mechanical arm control system according to claim 1, wherein the proportional speed regulating valve (3) adopts a one-way valve bridge type structure.
5. The control method of the electrohydraulic hybrid driving type mechanical arm control system of any one of claims 1 to 4 is characterized in that when the control method is in a light-load quick lifting working condition, a four-position six-way electromagnetic reversing valve (14) is switched to the left position, a second position switch (15.2) is closed in a contact manner, the second position switch (15.2) controls a first two-position two-way electromagnetic switching valve (17.1) and a second two-position two-way electromagnetic switching valve (17.2) to switch the left position, the first two-position two-way electromagnetic reversing valve (19.1) and the second two-position two-way electromagnetic reversing valve (19.2) to switch the upper position, an oil way of a hydraulic-electric secondary element (16) is cut off and does not work, a pressure oil port of a one-way variable vane pump (13) is directly communicated with oil ways at two ends of the hydraulic cylinder, high-pressure oil flows in the four-position six-way electromagnetic reversing valve (14) to form a differential loop, and the mechanical arm is quickly lifted under the light-load working condition.
6. A control method of an electrohydraulic hybrid driving mechanical arm control system according to any one of the claims 1 to 4, is characterized in that when the control system is under a heavy-load stable lifting working condition, the four-position six-way electromagnetic directional valve (14) is switched to the left position, the third two-position two-way electromagnetic directional valve (18) is switched on, the first two-position two-way electromagnetic directional valve (19.1) and the second two-position two-way electromagnetic directional valve (19.2) are positioned at the upper position, the unidirectional variable vane pump (13) supplements oil at the low pressure side, the first two-position two-way electromagnetic directional valve (17.1) and the second two-position two-way electromagnetic directional valve (17.2) are positioned at the switch-on state, the hydraulic-electric secondary element (16) is switched in a loop, and work in "engine-hydraulic pump" mode, constitute pump accuse jar closed circuit, high-pressure oil opens two proportion speed regulating valves (3) and two-way hydraulic locks (2) behind passing through one-way speed regulating valve (4), promote the steady lifting of pneumatic cylinder, simultaneously, high-pressure oil opens second area spring hydraulically controlled check valve (9.2), energy storage ware (11) release pressure oil is low pressure side oil filling, in the lifting process, pressure sensor (22) output system pressure signal, resistance position sensor (21) output altitude signal, rotational speed measuring apparatu (20) output rotational speed signal, input feedback signal into the converter through the controller, the rotational speed difference of converter compensation engine improves and plays stability.
7. The control method of an electrohydraulic hybrid driving mechanical arm control system according to any one of claims 1 to 4, characterized in that when the control method is in a gravity drop condition, a four-position six-way electromagnetic reversing valve (14) is switched to a right position, a first position switch (15.1) is closed in contact, a third two-position two-way electromagnetic switching valve (18) is electrically disconnected, the connection between the low pressure side of a cut-off pipeline and a hydraulic oil source is realized, a one-way variable vane pump (13) outputs high-pressure oil to open a backpressure one-way valve (12), the accumulator (11) is charged, a first two-position two-way electromagnetic switching valve (17.1) and a second two-position two-way electromagnetic switching valve (17.2) are in an on state, a hydraulic-electric secondary element (16) is connected into a loop and works in a 'hydraulic motor-generator' mode, under the action of gravity, a single-rod hydraulic cylinder (1) drops, when the drop height is more than 2/3, the stroke of the hydraulic motor is satisfied, the rotating speed is higher than the rotating speed of the generator coil coaxial with the motor is satisfied under the heavy load drop condition, and the rated energy is recovered.
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| CN109336005B (en) * | 2018-10-24 | 2020-08-11 | 浙江大学 | External energy-saving device for electric forklift and energy-saving control method |
| CN111336137B (en) * | 2020-03-26 | 2021-02-02 | 湖南机电职业技术学院 | Hydraulic hybrid power device and control method thereof |
| CN113044720B (en) * | 2021-03-11 | 2023-08-11 | 三一汽车起重机械有限公司 | Control method and device for working machine and working machine |
| CN113605888B (en) * | 2021-06-24 | 2023-10-13 | 浙江大学 | Single-pump driving energy-saving hydraulic system for small-diameter stratum tester |
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