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CN-121993463-A - Hydraulic electronic load sensing and pump control system of cabin cleaning robot and working method

CN121993463ACN 121993463 ACN121993463 ACN 121993463ACN-121993463-A

Abstract

The invention provides a hydraulic electronic load sensing and pump control system of a cabin cleaning robot and a working method thereof, belonging to the technical field of engineering robots and hydraulic transmission. The hydraulic pump unit is in transmission connection with the hydraulic pump unit and used for driving the hydraulic pump unit to operate, the hydraulic pump unit and the valve group assembly form a closed oil path through hydraulic management, the valve group assembly is communicated with each executing mechanism in a one-to-one correspondence manner and controls the action of the executing mechanism, and the electric control system is respectively and electrically connected with the hydraulic pump unit, the valve group assembly and the measurement and control system and used for receiving detection signals and outputting control instructions. The invention adopts dynamically adjustable differential pressure Set a plan, Compared with the design of the traditional load sensitive system for fixing the pressure difference, the fixed pressure difference loss is greatly reduced, and the double design realizes the optimization and upgrading of the energy efficiency of the system, so that the utilization rate of the energy efficiency is obviously improved, and the energy saving effect is outstanding.

Inventors

  • YANG LIUSONG
  • WANG FUYONG
  • LIU YUNFENG
  • ZHENG HUANPING
  • ZHONG HAO
  • Zhao Zhaoen
  • ZHAO LEI
  • ZHANG XIAOMING
  • YAO JIANYONG
  • CHEN KE
  • CHENG BO
  • XIN WEN
  • DENG WENXIANG
  • CHEN ZHIHUI
  • WANG JING

Assignees

  • 中信重工机械股份有限公司
  • 南京理工大学

Dates

Publication Date
20260508
Application Date
20260325

Claims (10)

  1. 1. The hydraulic electronic load sensing and pump control system of the cabin cleaning robot is characterized by comprising a power unit (1), a hydraulic pump set (2), valve set assemblies (3), an actuating mechanism (4), an electric control system (5) and a measurement and control system (6), wherein the power unit (1) is in transmission connection with the hydraulic pump set (2) and is used for driving the hydraulic pump set (2) to operate, the hydraulic pump set (2) and the valve set assemblies (3) form a closed oil way through hydraulic management, the valve set assemblies (3) are communicated with the actuating mechanisms (4) one by one and control actions of the actuating mechanism, and the electric control system (5) is respectively and electrically connected with the hydraulic pump set (2), the valve set assemblies (3) and the measurement and control system (6) and is used for receiving detection signals and outputting control instructions; The hydraulic pump set (2) comprises a main hydraulic pump (21) and a pilot oil source pump (22), wherein the main hydraulic pump (21) is a swash plate type variable axial plunger pump, the swash plate type variable axial plunger pump is provided with a variable control piston and a pilot electricity proportional directional valve, the output end of the pilot electricity proportional directional valve is in driving connection with the variable control piston, an outlet pressure sensor is assembled at the outlet of the main hydraulic pump (21), and a swash plate swing angle sensor is assembled at the swash plate position; the valve group assemblies (3) are arranged in a distributed mode, are installed near each executing mechanism (4) in a one-to-one correspondence mode, each valve group assembly (3) is integrated with an electric proportional direction reversing valve, an oil inlet pressure compensator, a pressure sensor and an integrated oil circuit block, the oil inlet pressure compensator and the electric proportional direction reversing valve are assembled in a superposition mode along the oil circuit direction, and the oil inlet pressure compensator and the electric proportional direction reversing valve are fixedly installed on the integrated oil circuit block; The measurement and control system (6) comprises a displacement sensor and an angle encoder, the displacement sensor and the angle encoder are correspondingly assembled at each joint according to the joint type of the actuating mechanism (4), the signal input end of the electric control system (5) is electrically connected with the measurement and control system (6) and each pressure sensor, and the signal output end is electrically connected with a pilot electric proportional directional valve of the main hydraulic pump (21) and an electric proportional directional reversing valve of each valve group assembly (3).
  2. 2. The hydraulic electronic load sensing and pump control system of the cabin cleaning robot according to claim 1, wherein the power unit (1) is a permanent magnet synchronous motor, and an output shaft of the permanent magnet synchronous motor is fixedly connected with an input end of the main hydraulic pump (21) through a coupler to form a coaxial transmission structure.
  3. 3. The hydraulic electronic load sensing and pump control system of the cabin cleaning robot according to claim 1, further comprising a safety valve group (7), wherein the safety valve group (7) is connected in series to an outlet main oil path of the main hydraulic pump (21), an electromagnetic overflow valve and a proportional overflow valve are integrated, and the electromagnetic overflow valve and the proportional overflow valve are arranged on an integrated valve block of the safety valve group in parallel.
  4. 4. The hydraulic electronic load sensing and pump control system of the cabin cleaning robot according to claim 1, wherein the actuating mechanism (4) is composed of a main mechanical arm actuating mechanism (41), an auxiliary mechanical arm actuating mechanism (42) and a chassis crawler travel actuating mechanism (43), the main mechanical arm actuating mechanism (41) comprises a rotary driving hydraulic motor (411), a large arm duplex hydraulic cylinder (412), a middle arm duplex hydraulic cylinder (413), a small arm hydraulic cylinder (414), a bucket hanging yaw hydraulic swing cylinder (415), a bucket scraping pitch hydraulic swing cylinder (416) and a bucket scraping roll hydraulic motor (417), the auxiliary mechanical arm actuating mechanism (42) comprises an auxiliary arm pitch hydraulic swing cylinder (421), an auxiliary arm telescopic hydraulic cylinder (422) and an auxiliary arm rolling brush rotating hydraulic motor (423), the chassis travel actuating mechanism (43) comprises a left crawler travel hydraulic motor (431) and a right crawler travel hydraulic motor (432), and each hydraulic actuating mechanism is provided with a group of independent valve assemblies (3).
  5. 5. The hydraulic electronic load sensing and pump control system of the cabin cleaning robot according to claim 1, wherein the electric control system (5) is composed of an upper computer (51) and an industrial personal computer (52), the upper computer (51) is electrically connected with the industrial personal computer (52) through a communication line, and a signal acquisition end of the industrial personal computer (52) is electrically connected with an outlet pressure sensor of a main hydraulic pump (21), a swashplate swing angle sensor, pressure sensors, displacement sensors and an angle encoder of all valve bank assemblies (3) respectively, and a control output end is electrically connected with a pilot electric proportional directional valve of the main hydraulic pump (21) and an electric proportional directional valve of all valve bank assemblies (3).
  6. 6. A method of operation based on the system of any one of claims 1-5, comprising the steps of: S1, an electric control system (5) receives an external action instruction, and judges that an executing mechanism (4) needs to execute a compound action or an independent action according to an instruction signal; S2, if the combined action is judged, the system is switched to an electronic load sensitive mode, an electric control system (5) collects load pressure signals of corresponding execution mechanisms (4) through pressure sensors of all valve bank assemblies (3), a maximum load pressure value is obtained through screening, and the outlet pressure of a main hydraulic pump (21) is set to be the maximum load pressure value and a preset pressure difference The output pressure and the flow of the main hydraulic pump (21) are adjusted by a pressure loop servo control mode; And S3, if the system is judged to act independently, switching to a pump control mode, and adjusting the opening of the electric proportional directional reversing valve corresponding to the loop of the actuating mechanism (4) to the maximum, wherein the electric control system (5) adjusts the output flow of the main hydraulic pump (21) in a flow loop servo control mode, and takes swashplate swing angle closed-loop control as a core and pressure closed-loop control as auxiliary control.
  7. 7. The method of claim 6, wherein the predetermined pressure difference in step S2 Switching and adjusting according to working conditions, and under heavy-load working conditions The value is 20bar, and under the idle standby condition The value is 5bar, and under the condition of quick response The value is 30bar, under the standard response working condition The value is 20bar under various working conditions The values can be independently fine-tuned.
  8. 8. The working method of claim 6, wherein the servo control of the pressure ring in the step S2 is performed according to the following procedures that the electric control system (5) outputs a preset pressure signal, compares the preset pressure signal with an actual pressure signal fed back by an outlet pressure sensor of the main hydraulic pump (21), outputs a control signal to the pilot electric proportional directional valve according to the difference value, drives the variable control piston to act, and adjusts the swashplate swing angle of the main hydraulic pump (21) to match the preset pressure.
  9. 9. The working method of claim 6, wherein the flow loop servo control in the step S3 is performed according to the following procedures that an electric control system (5) outputs a preset flow signal and converts the preset flow signal into a corresponding swash plate swing angle target value, the swash plate swing angle target value is compared with an actual swing angle signal fed back by a swash plate swing angle sensor, a control signal is output to a pilot electric proportional directional valve according to the difference value, and the displacement of a main hydraulic pump (21) is adjusted to match the preset flow.
  10. 10. The working method of claim 6, wherein seven hydraulic actuators of the main mechanical arm are controlled by closed-loop servo control, the auxiliary arm pitching hydraulic swinging rigid (431) of the auxiliary mechanical arm and the auxiliary arm telescopic hydraulic cylinder (422) are controlled by closed-loop servo control, the auxiliary arm rolling brush rotating hydraulic motor (423) is controlled by open-loop control, and two hydraulic motors of the chassis crawler running actuator (43) are controlled by open-loop control, and the closed-loop servo control is realized by feedback signals of the measurement and control system (6).

Description

Hydraulic electronic load sensing and pump control system of cabin cleaning robot and working method Technical Field The invention belongs to the technical field of engineering robots and hydraulic transmission, and particularly relates to a hydraulic electronic load sensing and pump control system of a cabin cleaning robot and a working method. Background Engineering machinery for traditional cabin cleaning, such as hydraulic bulldozers, excavators, loaders, overhead working vehicles and the like, generally adopts a load sensitive hydraulic system (LS system) as a core transmission scheme, but the traditional load sensitive system in the prior art has obvious inherent defects that 1. A mechanical hydraulic signal transmission delay is carried out, a load pressure signal is transmitted to a pump regulator through a hydraulic pipeline (transmitted to a pump regulator and depends on a mechanical spring-damping system to respond, the signal transmission delay time is long, so that an actuating mechanism is delayed in action, started and stopped to shake, positioning deviation is caused in fine operation, and 2, a fixed differential pressure set value exists between a pump outlet and the load pressure) Energy efficiency loss of conventional systemUsually fixed at 15-25 bar, mechanically set, the device cannot adapt to the working condition change. The pump outlet pressure is maintained during no-load or light-loadAnd 3, realizing the intellectualization is difficult, a traditional hydraulic actuating mechanism loop does not have a pressure sensor, a hydraulic pump adopts mechanical hydraulic feedback variable control, and signal sensing-acquisition-intelligent dynamic control is difficult, so that the problems are solved, and the hydraulic electronic load sensitivity and pump control system of the cabin cleaning robot and the working method are needed to solve. Disclosure of Invention The invention aims to solve the technical problems that the signal transmission time is long, the intellectualization is difficult to realize, and the hydraulic electronic load sensitivity and pump control system and the working method of the cabin cleaning robot are provided for overcoming the defects of the prior art. The hydraulic electronic load sensing and pump control system of the cabin cleaning robot comprises a power unit, a hydraulic pump set, a valve set assembly, an executing mechanism, an electric control system and a measurement and control system, wherein the power unit is in transmission connection with the hydraulic pump set and is used for driving the hydraulic pump set to operate, the hydraulic pump set and the valve set assembly form a closed oil way through hydraulic management, the valve set assembly is communicated with each executing mechanism in a one-to-one correspondence manner and controls the action of each executing mechanism, and the electric control system is respectively and electrically connected with the hydraulic pump set, the valve set assembly and the measurement and control system and is used for receiving detection signals and outputting control instructions; The hydraulic pump set comprises a main hydraulic pump and a pilot oil source pump, wherein the main hydraulic pump is a swash plate type variable axial plunger pump, the swash plate type variable axial plunger pump is provided with a variable control piston and a pilot electricity proportional direction valve, the output end of the pilot electricity proportional direction valve is in driving connection with the variable control piston, an outlet pressure sensor is assembled at the outlet of the main hydraulic pump, and a swash plate swing angle sensor is assembled at the swash plate position; the valve block assemblies are arranged in a distributed mode and are installed near each executing mechanism in a one-to-one correspondence mode, each valve block assembly is integrated with an electric proportional direction reversing valve, an oil inlet pressure compensator, a pressure sensor and an integrated oil circuit block, and the oil inlet pressure compensator and the electric proportional direction reversing valve are assembled in a superposition mode along the oil circuit direction and are fixedly installed on the integrated oil circuit block; The measurement and control system comprises a displacement sensor and an angle encoder, the displacement sensor and the angle encoder are correspondingly assembled at each joint according to the joint type of the actuating mechanism, the signal input end of the electric control system is electrically connected with the measurement and control system and each pressure sensor, and the signal output end is electrically connected with the pilot electric proportional directional valve of the main hydraulic pump and the electric proportional directional reversing valve of each valve group assembly. Further, the power unit is a permanent magnet synchronous motor, and an output shaft of the permanent ma