Electro-hydraulic integrated driving system of large forging manipulator and control method

Abstract

The invention discloses an electric hydraulic integrated driving system of a large forging manipulator and a control method, and belongs to the technical field of driving and transmission of forging manipulators, the electric hydraulic integrated driving system comprises an electric driving unit, a hydraulic power unit, a front offset unit, a rear offset unit, an inclination unit, a lifting unit and a walking unit; the electric driving unit is connected with an external power grid on one hand, and is connected with motors of the hydraulic power unit, the front offset unit, the rear offset unit, the inclination unit, the lifting unit and the walking unit on the other hand; the hydraulic power unit is connected with control valve sets of the front deviation unit, the rear deviation unit, the inclining unit, the lifting unit and the walking unit. Movement is controlled through the motor, power is provided through hydraulic pressure, high power density, high energy efficiency and high performance of a driving and transmission system are achieved, and the requirement for multi-dimensional simultaneous control is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of driving and transmission of forging manipulators, and particularly relates to an electro-hydraulic integrated drive system and a control method for a large forging manipulator. Background Art

[0002] As two main driving and transmission solutions, hydraulic and electromechanical systems have two forms: linear and rotary, and are widely used in many fields such as aerospace, marine ships, national defense and military industry, mining and metallurgy, construction machinery, and agricultural and forestry machinery. These two transmissions have their own characteristics: Hydraulic transmission is favored for its high power density, large load-bearing capacity, and excellent anti-shock performance. Traditional valve-controlled hydraulic systems are widely popular for their simple structure and mature technology. However, due to their reliance on throttling for speed and position control, they result in large throttling losses and low system energy efficiency. Although pump-controlled hydraulic systems improve efficiency by eliminating throttling losses, high-power systems have obvious deficiencies in dynamic response, installed power, and cost. In contrast, electromechanical drive systems have the advantages of high transmission efficiency, good control performance, and low maintenance costs. However, their load-bearing capacity is relatively weak, the anti-shock ability is insufficient, and they still face challenges such as slow dynamic response, large installed power, and high cost in high-power applications.

[0003] Existing large forging manipulators generally adopt a full-hydraulic drive and control system, which not only needs to overcome external loads but also needs to precisely control the movement. However, current technologies can only control one dimension among position / speed or force in a linear system, and only one dimension among angular position / rotational speed or torque in a rotary system. These limitations lead to the inability of existing large forging manipulator systems to simultaneously meet the comprehensive requirements of maximum load, positioning accuracy, and response speed, and it is difficult to combine high power density, high energy efficiency, and high performance.

[0004] The existing patent "Position-pressure control method for cylinder positioning of large forging manipulators" discloses adding a position control mode to the force control mode, and initially realizes the control of the height, speed, and control accuracy of the hydraulic cylinder. However, force and position still cannot be controlled simultaneously, and the effect is not yet ideal; the existing patent "Displacement-force composite control improvement system for forging manipulators" discloses adding a force control mode to the position control mode and selecting the mode according to the working conditions. However, it is still difficult to simultaneously achieve precise displacement control and high compliance under specific working conditions. Although the use of high-frequency response proportional servo valves improves the response speed, the cost is relatively high. Although these patents have made attempts in control technology, they have not effectively solved the problem of simultaneous control of position and force, and the control system complexity is relatively high.

[0005] Therefore, there is an urgent need to propose an electro-hydraulic integrated drive system and a control method for a large forging manipulator to solve the problems existing in the prior art. Summary of the Invention

[0006] To solve the above technical problems, the present invention proposes an electro-hydraulic integrated drive system and control method for a large forging manipulator to solve the problems existing in the above prior art.

[0007] To achieve the above object, the present invention provides an electro-hydraulic integrated drive system for a large forging manipulator, including: an electric drive unit, a hydraulic power unit, a front offset unit, a rear offset unit, a tilt unit, a lifting unit, and a traveling unit;

[0008] On the one hand, the electric drive unit is connected to an external power grid, and on the other hand, it is respectively connected to the motors of the hydraulic power unit, the front offset unit, the rear offset unit, the tilt unit, the lifting unit, and the traveling unit;

[0009] The hydraulic power unit is respectively connected to the control valve groups of the front offset unit, the rear offset unit, the tilt unit, the lifting unit, and the traveling unit.

[0010] The hydraulic power unit includes a high-pressure accumulator, a medium-pressure accumulator, an oil tank, and a make-up oil module, and the high-pressure accumulator, the medium-pressure accumulator are respectively connected to the make-up oil module.

[0011] Optionally, the front offset unit includes a first front offset actuator, a second front offset actuator, and a front offset unit control valve group; the first front offset actuator and the second front offset actuator are symmetrically arranged. One end of the first front offset actuator and the second front offset actuator is installed on the front swing arm, and the other end is connected to the suspension rod. The motor of the first front offset actuator is connected to the electric drive unit, and the motor of the second front offset actuator is connected to the electric drive unit; the first connection port (a port), the second connection port (b port), and the third connection port (c port) of the front offset unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the oil tank, and the fourth connection port (d port) and the fifth connection port (e port) of the front offset unit control valve group are respectively connected to the rodless cavity of the first front offset actuator, the rod chamber of the second front offset actuator, the rod chamber of the first front offset actuator, and the rodless cavity of the second front offset actuator;

[0012] The rear offset unit includes a first rear offset actuator, a second rear offset actuator, and a rear offset unit control valve group; the first rear offset actuator and the second rear offset actuator are symmetrically arranged. One end of the first rear offset actuator and the second rear offset actuator is mounted on the rear swing arm, and the other end is connected to the tilt unit actuator. The motor of the first rear offset actuator is connected to the electric drive unit, and the motor of the second rear offset actuator is connected to the electric drive unit. The first connection port (port a), the second connection port (port b), and the third connection port (port c) of the rear offset unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the fuel tank. The fourth connection port (port d) and the fifth connection port (port e) of the rear offset unit control valve group are respectively connected to the rodless cavity of the first rear offset actuator, the rod chamber of the second rear offset actuator, the rod chamber of the first rear offset actuator, and the rodless cavity of the second rear offset actuator;

[0013] The tilt unit includes a tilt actuator and a tilt unit control valve group; one end of the tilt actuator is connected to the rear offset unit actuator, and the other end is connected to the tongs frame. The motor of the tilt actuator is connected to the electric drive unit. The first connection port (port a), the second connection port (port b), and the third connection port (port c) of the tilt unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the fuel tank. The fourth connection port (port d) and the fifth connection port (port e) of the tilt unit control valve group are respectively connected to the rodless cavity and the rod chamber of the tilt actuator;

[0014] The lifting unit includes a first lifting actuator, a second lifting actuator, and a lifting unit control valve group; the first lifting actuator and the second lifting actuator are symmetrically arranged. One end of the first lifting actuator and the second lifting actuator is mounted on the vehicle body, and the other end is connected to the front swing arm. The motor of the first lifting actuator is connected to the electric drive unit, and the motor of the second lifting actuator is connected to the electric drive unit. The first connection port (port a), the second connection port (port b), and the third connection port (port c) of the lifting unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the fuel tank. The fourth connection port (port d) and the fifth connection port (port e) of the lifting unit control valve group are respectively connected to the rod chamber of the first lifting actuator, the rod chamber of the second lifting actuator, the rodless cavity of the first lifting actuator, and the rodless cavity of the second lifting actuator;

[0015] The walking unit includes a walking drive motor, a first walking hydraulic motor, a second walking hydraulic motor, and a walking unit control valve group. The walking unit is installed on the cart and connected to the wheels. The walking drive motor is connected to the electric drive unit. The first connection port (port a), the second connection port (port b), and the third connection port (port c) of the walking unit control valve group are respectively connected to the high-pressure energy accumulator, the medium-pressure energy accumulator, and the fuel tank. The fourth connection port (port d) and the fifth connection port (port e) of the walking unit control valve group are respectively connected to the inlet of the first walking hydraulic motor, the inlet of the second walking hydraulic motor, the outlet of the first walking hydraulic motor, and the outlet of the second walking hydraulic motor.

[0016] Optionally, the walking unit selects any one of front-wheel drive, rear-wheel drive, and combined front and rear-wheel drive based on actual needs; and the drive form of each wheel is driven by a walking drive motor, a walking hydraulic motor, or a combination of a walking drive motor and a walking hydraulic motor.

[0017] The driving forms of the walking drive motor and the walking hydraulic motor for the walking unit adopt any one of coaxial series connection, multi-axis parallel connection, and coaxial integration.

[0018] The numbers of the walking drive motor and the walking hydraulic motor are configured based on actual needs.

[0019] Optionally, the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator, the tilt actuator, the first lifting actuator, and the second lifting actuator all include a lead screw drive motor, a reducer, a lead screw pair, a seal, a cylinder block, and a piston rod.

[0020] The lead screw drive motor converts rotational motion into linear motion of the piston rod through the reducer and the lead screw pair in sequence.

[0021] The hydraulic power unit drives the piston rod to perform linear motion through a control valve group.

[0022] Optionally, the front offset unit control valve group, the rear offset unit control valve group, the tilt unit control valve group, the lifting unit control valve group, and the walking unit control valve group all include a first control valve, a second control valve, a third control valve, a fourth control valve, a fifth control valve, a sixth control valve, a first pressure sensor, and a second pressure sensor.

[0023] The first connection ports (port a) of the front offset unit control valve group, the rear offset unit control valve group, the tilt unit control valve group, the lifting unit control valve group, and the traveling unit control valve group are respectively connected to the first control valve and the fourth control valve, the second connection ports (port b) are respectively connected to the second control valve and the fifth control valve, the third connection ports (port c) are respectively connected to the third control valve and the sixth control valve, the fourth connection ports (port d) are respectively connected to the first control valve, the second control valve, the third control valve, and the first pressure sensor, and the fifth connection ports (port e) are respectively connected to the fourth control valve, the fifth control valve, the sixth control valve, and the second pressure sensor.

[0024] Optionally, the front offset unit, the rear offset unit, the tilt unit, and the lifting unit are configured to control the two chambers of the corresponding actuator to be respectively connected to the high-pressure accumulator, the medium-pressure accumulator, or the oil tank based on the pressure information of the two chambers of the corresponding actuator measured by the first pressure sensor and the second pressure sensor, and the motor torque information of the lead screw drive motor, so as to complete pressure matching. The lead screw drive motor performs pressure, torque compensation, and motion control based on the rotation angle / speed information of the motor encoder.

[0025] The traveling unit is configured to control the inlet and outlet of the corresponding traveling hydraulic motor to be respectively connected to the high-pressure accumulator, the medium-pressure accumulator, or the oil tank based on the pressure information of the inlet and outlet of the corresponding traveling hydraulic motor measured by the first pressure sensor and the second pressure sensor, and the motor torque information of the traveling drive motor, so as to complete pressure matching. The traveling drive motor performs pressure, torque compensation, and motion control according to the rotation angle / speed information of the motor encoder.

[0026] The present invention further provides a control method for an electro-hydraulic integrated drive system of a large forging manipulator. Based on the above system, the method includes the following steps:

[0027] When the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator, the tilt actuator, the first lifting actuator, the second lifting actuator, or the first traveling hydraulic motor, the second traveling hydraulic motor is in an overrun condition, the kinetic and potential energy is converted into electrical energy by the motor of the lead screw drive motor, the traveling drive motor, or the hydraulic power unit and directly utilized or stored through the electric drive unit, or the kinetic and potential energy is directly stored in the high-pressure accumulator and the medium-pressure accumulator, or the kinetic and potential energy is stored and utilized through a combination of the electric drive unit, the high-pressure accumulator, and the medium-pressure accumulator.

[0028] When the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator, the tilt actuator, the first lifting actuator, the second lifting actuator, or the first traveling hydraulic motor and the second traveling hydraulic motor are stationary, the two chambers of the first front offset actuator, the second front offset actuator, the first rear offset actuator, and the second rear offset actuator or both sides of the inlet and outlet of the first traveling hydraulic motor and the second traveling hydraulic motor are at the same pressure level. When motion is required, the pressure level on one or both sides of the two chambers of the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator, or the inlet and outlet of the first traveling hydraulic motor and the second traveling hydraulic motor is switched to perform system response.

[0029] Compared with the prior art, the present invention has the following advantages and technical effects:

[0030] 1. The large forging manipulator electro-hydraulic integrated drive system proposed by the present invention can electro-mechanically control position / speed and angular position / speed, and hydraulically control force and torque, reducing throttling losses, having a fast response speed, fully integrating the advantages of both, reducing the installed power and cost, and integrating the motor and the hydraulic motor coaxially, further improving the transmission efficiency;

[0031] 2. The large forging manipulator electro-hydraulic integrated drive system proposed by the present invention realizes the simultaneous control of position / speed - force and angular position / speed - torque, enabling the position and speed control to be free from the interference of inertia and external load force, with high control precision and good control performance, and being able to meet the requirements for position / speed - force or angular position / speed - torque simultaneously;

[0032] 3. The large forging manipulator electro-hydraulic integrated drive system proposed by the present invention can be connected to the pressure source when the actuator is stationary, and perform a fast response through pressure level switching when motion is required, reducing the pressure build-up time and further improving the system response speed;

[0033] 4. The large forging manipulator electro-hydraulic integrated drive system proposed by the present invention can realize the efficient storage and utilization of kinetic and potential energy under overworking conditions of the actuator, the efficient sharing of DC bus energy, and the flow sharing of multiple actuators, improving the system energy efficiency;

[0034] 5. The large forging manipulator electro-hydraulic integrated drive system proposed by the present invention performs pressure, torque compensation, and motion control based on the position / speed information converted from the motor encoder or the angular / rotational speed information of the motor encoder and the motor torque information, without the need to additionally install displacement sensors and speed sensors. The system information is easily obtained, and it has high power density, high energy efficiency, and high performance, laying a foundation for the intelligentization of the forging manipulator. Brief Description of the Drawings

[0035] The accompanying drawings, which form a part of this application, are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0036] Figure 1 is the external view of the large forging manipulator according to the embodiment of the present invention;

[0037] Figure 2 is the schematic diagram of the mechanical structure of the large forging manipulator according to the embodiment of the present invention;

[0038] Figure 3 is the schematic diagram of the electrical-hydraulic integrated drive system of the large forging manipulator according to the embodiment of the present invention;

[0039] Figure 4 is the schematic diagram of the control valve group according to the embodiment of the present invention;

[0040] Figure 5 is the control block diagram of the position / speed-force and angular position / speed-torque decoupling control method of the electrical-hydraulic integrated drive system of the large forging manipulator according to the embodiment of the present invention;

[0041] Figure 6 is the control flowchart of the position / speed-force and angular position / speed-torque decoupling control of the electrical-hydraulic integrated drive system of the large forging manipulator according to the embodiment of the present invention.

[0042] Among them, 1. Electrical drive unit; 2. Hydraulic power unit; 3. Front offset unit; 4. Rear offset unit; 5. Tilt unit; 6. Lifting unit; 7. Travel unit; 8. High-pressure accumulator; 9. Medium-pressure accumulator; 10. Oil tank; 11. Oil replenishment module; 12-1. First front offset actuator; 12-2. Second front offset actuator; 13-1. First rear offset actuator; 13-2. Second rear offset actuator; 14. Tilt actuator; 15-1. First lifting actuator; 15-2. Second lifting actuator; 16. Travel drive motor; 17-1. First travel hydraulic motor; 17-2. Second travel hydraulic motor; 18. Control valve group of the front offset unit; 19. Control valve group of the rear offset unit; 20. Control valve group of the tilt unit; 21. Control valve group of the lifting unit; 22. Control valve group of the travel unit; 23. First control valve; 24. Second control valve; 25. Third control valve; 26. Fourth control valve; 27. Fifth control valve; 28. Sixth control valve; 29. First pressure sensor; 30. Second pressure sensor. Detailed implementation manners

[0043] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0045] Embodiment 1

[0046] As Figure 1 shown, in this embodiment, a large forging manipulator electro-hydraulic integrated drive system is provided, which includes an electric drive unit 1, a hydraulic power unit 2, a front offset unit 3, a rear offset unit 4, a tilting unit 5, a lifting unit 6, and a traveling unit 7.

[0047] As Figure 2 、 Figure 3 shown, on the one hand, the electric drive unit 1 is connected to the external power grid, and on the other hand, it is respectively connected to the motors of the hydraulic power unit, the front offset unit 3, the rear offset unit 4, the tilting unit 5, the lifting unit 6, and the traveling unit 7;

[0048] The hydraulic power unit 2 is respectively connected to the control valve groups of the front offset unit 3, the rear offset unit 4, the tilting unit 5, the lifting unit 6, and the traveling unit 7.

[0049] The hydraulic power unit 2 includes a high-pressure accumulator 8, a medium-pressure accumulator 9, an oil tank 10, and a make-up oil module 11, and the high-pressure accumulator 8, the medium-pressure accumulator 9 are respectively connected to the make-up oil module 11.

[0050] The front offset unit 3 includes a first front offset actuator 12-1, a second front offset actuator 12-2, and a front offset unit control valve group 18, where: the first front offset actuator 12-1 and the second front offset actuator 12-1 are symmetrically arranged. One end of the first front offset actuator 12-1 and the second front offset actuator 12-1 is installed on the front swing arm, and the other end is connected to the suspension rod. The motor of the first front offset actuator 12-1 is connected to the electric drive unit 1, and the motor of the second front offset actuator 12-2 is connected to the electric drive unit 1. The first connection port a, the second connection port b, and the third connection port c of the front offset unit control valve group 18 are respectively connected to the high-pressure accumulator 8, the medium-pressure accumulator 9, and the fuel tank 10. The fourth connection port d and the fifth connection port e of the front offset unit control valve group 18 are respectively connected to the rodless cavity of the first front offset actuator 12-1, the rod cavity of the second front offset actuator 12-2, the rod cavity of the first front offset actuator 12-1, and the rodless cavity of the second front offset actuator 12-2;

[0051] The rear offset unit 4 includes a first rear offset actuator 13-1, a second rear offset actuator 13-2, and a rear offset unit control valve group 19, where: the first rear offset actuator 13-1 and the second rear offset actuator 13-2 are symmetrically arranged. One end of the first rear offset actuator 13-1 and the second rear offset actuator 13-2 is installed on the rear swing arm, and the other end is connected to the tilt actuator 14. The motor of the first rear offset actuator 13-1 is connected to the electric drive unit 1, and the motor of the second rear offset actuator 13-2 is connected to the electric drive unit 1. The first connection port a, the second connection port b, and the third connection port c of the rear offset unit control valve group 19 are respectively connected to the high-pressure accumulator 8, the medium-pressure accumulator 9, and the fuel tank 10. The fourth connection port d and the fifth connection port e of the rear offset unit control valve group 19 are respectively connected to the rodless cavity of the first rear offset actuator 13-1, the rod cavity of the second rear offset actuator 13-2, the rod cavity of the first rear offset actuator 13-1, and the rodless cavity of the second rear offset actuator 13-2;

[0052] The tilt unit 5 includes a tilt actuator 14 and a tilt unit control valve group 20, where: one end of the tilt actuator 14 is connected to the rear offset unit actuator, and the other end is connected to the tong frame. The motor of the tilt actuator 14 is connected to the electric drive unit 1; the first connection port (port a), the second connection port (port b), and the third connection port (port c) of the tilt unit control valve group 20 are respectively connected to the high-pressure accumulator 8, the medium-pressure accumulator 9, and the fuel tank 10. The fourth connection port (port d) and the fifth connection port (port e) of the tilt unit control valve group 20 are respectively connected to the rodless chamber and the rod chamber of the tilt actuator 14;

[0053] The lifting unit 6 includes a first lifting actuator 15-1, a second lifting actuator 15-2, and a lifting unit control valve group 21, where: the first lifting actuator 15-1 and the second lifting actuator 15-2 are symmetrically arranged. One end of the first lifting actuator 15-1 and the second lifting actuator 15-2 is installed on the cart, and the other end is connected to the front swing arm. The motor of the first lifting actuator 15-1 is connected to the electric drive unit 1, and the motor of the second lifting actuator 15-2 is connected to the electric drive unit 1; the first connection port (port a), the second connection port (port b), and the third connection port (port c) of the lifting unit control valve group 21 are respectively connected to the high-pressure accumulator 8, the medium-pressure accumulator 9, and the fuel tank 10. The fourth connection port (port d) and the fifth connection port (port e) of the lifting unit control valve group 21 are respectively connected to the rod chamber of the first lifting actuator 15-1, the rod chamber of the second lifting actuator 15-2, the rodless chamber of the first lifting actuator 15-1, and the rodless chamber of the second lifting actuator 15-2;

[0054] The traveling unit 7 includes a traveling drive motor 16, a first traveling hydraulic motor 17-1, a second traveling hydraulic motor 17-2, and a traveling unit control valve group 22, where: the traveling unit 7 is installed on the cart and connected to the wheels. The traveling drive motor 16 is connected to the electric drive unit 1; the first connection port (port a), the second connection port (port b), and the third connection port (port c) of the traveling unit control valve group 22 are respectively connected to the high-pressure accumulator 8, the medium-pressure accumulator 9, and the fuel tank 10. The fourth connection port (port d) and the fifth connection port (port e) of the traveling unit control valve group 22 are respectively connected to the inlet of the first traveling hydraulic motor 17-1, the inlet of the second traveling hydraulic motor 17-2, the outlet of the first traveling hydraulic motor 17-1, and the outlet of the second traveling hydraulic motor 17-2.

[0055] The walking unit 7 can be selectively front-wheel drive, rear-wheel drive, or all-wheel drive based on actual needs, and each wheel can be driven by a walking drive motor 16, a walking hydraulic motor, or a combination of a walking drive motor 16 and a walking hydraulic motor; wherein, the walking hydraulic motor includes a first walking hydraulic motor 17-1 and a second walking hydraulic motor 17-2.

[0056] The driving forms of the walking drive motor 16, the first walking hydraulic motor 17-1, and the second walking hydraulic motor 17-2 for the walking unit adopt any one of coaxial series connection, multi-axis parallel connection, and coaxial integration;

[0057] The quantities of the walking drive motor 16, the first walking hydraulic motor 17-1, and the second walking hydraulic motor 17-2 are configured based on actual needs.

[0058] As Figure 4 shown, the front offset unit control valve group 18, the rear offset unit control valve group 19, the tilt unit control valve group 20, the lifting unit control valve group 21, and the walking unit control valve group 22 each include a first control valve 23, a second control valve 24, a third control valve 25, a fourth control valve 26, a fifth control valve 27, a sixth control valve 28, a first pressure sensor 29, and a second pressure sensor 30, and are characterized in that: the first connection port a of the control valve group is connected to the first control valve 23 and the fourth control valve 26, the second connection port b of the control valve group is connected to the second control valve 24 and the fifth control valve 27, the third connection port c of the control valve group is connected to the third control valve 25 and the sixth control valve 28, the fourth connection port d of the control valve group is connected to the first control valve 23, the second control valve 24, the third control valve 25, and the first pressure sensor 29, and the fifth connection port e of the control valve group is connected to the fourth control valve 26, the fifth control valve 27, the sixth control valve 28, and the second pressure sensor 30.

[0059] Further, the control valve is one of a switching valve and a proportional valve.

[0060] As Figure 5 、 Figure 6 shown, for the front offset unit 3, rear offset unit 4, tilt unit 5, and lifting unit 6, according to the pressure information of the two chambers of the actuator measured by the first pressure sensor 29 and the second pressure sensor 30, as well as the motor torque information of the lead screw drive motor, the control valve group is used to control the two chambers of the actuator to be respectively connected to the high-pressure accumulator 8, the medium-pressure accumulator 9, or the fuel tank 10 to complete pressure matching, and the lead screw drive motor performs pressure, torque compensation, and motion control according to the rotation angle / speed information of the motor encoder, without the need to additionally install a displacement sensor and a speed sensor.

[0061] The walking unit 7 controls the connection of the inlets and outlets of the walking hydraulic motor to the high-pressure accumulator 8, the medium-pressure accumulator 9 or the fuel tank 10 respectively through the control valve group according to the pressure information of the inlets and outlets of the walking hydraulic motor measured by the first pressure sensor 29 and the second pressure sensor 30, as well as the motor torque information of the walking drive motor 16, to complete pressure matching. The walking drive motor 16 performs pressure, torque compensation and motion control according to the angle / speed information of the motor encoder, without the need to additionally install an angular displacement sensor and a speed sensor.

[0062] The oil replenishing module 11 is used to replenish oil to the high-pressure accumulator 8 and the medium-pressure accumulator 9 when the pressures of the high-pressure accumulator 8 and the medium-pressure accumulator 9 are measured to be lower than the set pressures.

[0063] This embodiment also provides a control method for an electro-hydraulic integrated drive system of a large forging manipulator. Based on the described system, it includes the following steps:

[0064] When the first front offset actuator 12-1, the second front offset actuator 12-2, the first rear offset actuator 13-1, the second rear offset actuator 13-2, the tilt actuator 14, the first lifting actuator 15-1, the second lifting actuator 15-2 or the first walking hydraulic motor 17-1, the second walking hydraulic motor 17-2 are in an overrun condition, the kinetic and potential energy is converted into electrical energy through the motor of the lead screw drive motor, the walking drive motor 16 or the hydraulic power unit 2 and directly converted and utilized or stored through the electric drive unit 1, or the kinetic and potential energy is directly stored in the high-pressure accumulator 8 and the medium-pressure accumulator 9, or the kinetic and potential energy is stored and utilized through the combination of the electric drive unit 1, the high-pressure accumulator 8 and the medium-pressure accumulator 9.

[0065] For the first front offset actuator 12-1, the second front offset actuator 12-2, the first rear offset actuator 13-1 and the second rear offset actuator 13-2 of the front offset unit 3 and the rear offset unit 4, the drive chambers are symmetric and horizontally arranged without being affected by gravity, and the inlets and outlets of the first walking hydraulic motor 17-1 and the second walking hydraulic motor 17-2 of the walking unit 7 are symmetric.

[0066] When the first front offset actuator 12-1, the second front offset actuator 12-2, the first rear offset actuator 13-1, the second rear offset actuator 13-2, or the first traveling hydraulic motor 17-1, the second traveling hydraulic motor 17-2 is at rest, both chambers of the first front offset actuator 12-1, the second front offset actuator 12-2, the first rear offset actuator 13-1, the second rear offset actuator 13-2, or the inlets and outlets of the first traveling hydraulic motor 17-1, the second traveling hydraulic motor 17-2 are connected to the high-pressure accumulator 8 or the medium-pressure accumulator 9, so that both sides of both chambers of the first front offset actuator 12-1, the second front offset actuator 12-2, the first rear offset actuator 13-1, the second rear offset actuator 13-2, or the inlets and outlets of the first traveling hydraulic motor 17-1, the second traveling hydraulic motor 17-2 are at the same pressure level. When motion is required, the pressure level of one side or both sides of both chambers of the first front offset actuator 12-1, the second front offset actuator 12-2, the first rear offset actuator 13-1, the second rear offset actuator 13-2, or the inlets and outlets of the first traveling hydraulic motor 17-1, the second traveling hydraulic motor 17-2 is switched, reducing the pressure build-up time and further improving the system response speed.

[0067] The control method provided in this embodiment electro-mechanically controls position / speed and angular position / speed, hydraulically controls force and torque, and performs fast response through pressure level switching, achieving simultaneous control of position / speed-force and angular position / speed-torque, fully integrating the advantages of both electric and hydraulic systems. The accumulator outputs multiple levels of pressure to meet peak power demands, balance gravity, and overcome inertial loads. The motor is used for pressure and torque compensation and motion control, enabling position and speed control to be free from interference by inertia and external load forces. It has the advantages of fast response speed, high control precision, low system energy consumption, installed power, and cost, and easy access to system information, with high power density, high energy efficiency, and high performance, laying a foundation for the intelligentization of the forging manipulator.

[0068] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An electrical and hydraulic integrated drive system for a large forging manipulator, characterized in that: include: Electric drive unit, hydraulic power unit, front offset unit, rear offset unit, tilt unit, lifting unit and travel unit; The electric drive unit is connected to the external power grid on one hand, and is respectively connected to the motors of the hydraulic power unit, the front offset unit, the rear offset unit, the tilt unit, the lifting unit and the travel unit on the other hand; The hydraulic power unit is connected to the control valve groups of the front offset unit, the rear offset unit, the tilt unit, the lifting unit and the travel unit respectively.

2. The system according to claim 1, characterized in that The hydraulic power unit comprises a high-pressure accumulator, a medium-pressure accumulator, an oil tank and an oil replenishment module, and the high-pressure accumulator, the medium-pressure accumulator and the oil replenishment module are respectively connected.

3. The system according to claim 1, characterized in that The front offset unit comprises a first front offset actuator, a second front offset actuator and a front offset unit control valve group; the first front offset actuator and the second front offset actuator are arranged symmetrically, one end of the first front offset actuator and the second front offset actuator is installed on the front swing arm, and the other end is connected to the suspension rod, the motor of the first front offset actuator is connected to the electric drive unit, and the motor of the second front offset actuator is connected to the electric drive unit; the first connection port a, the second connection port b, and the third connection port c of the front offset unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the oil tank, and the fourth connection port d and the fifth connection port e of the front offset unit control valve group are respectively connected to the rodless chamber of the first front offset actuator, the rod chamber of the second front offset actuator, and the rod chamber of the first front offset actuator and the rodless chamber of the second front offset actuator; The rear offset unit includes a first rear offset actuator, a second rear offset actuator and a rear offset unit control valve group; The first and second rear offset actuators are symmetrically arranged, one end of the first and second rear offset actuators is mounted on the rear swing arm, and the other end is connected to the tilt unit actuator, the motor of the first rear offset actuator is connected to the electric drive unit, and the motor of the second rear offset actuator is connected to the electric drive unit; the first connection port a, the second connection port b, and the third connection port c of the rear offset unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the oil tank, and the fourth connection port d and the fifth connection port e of the rear offset unit control valve group are respectively connected to the rodless chamber of the first rear offset actuator, the rod chamber of the second rear offset actuator, and the rod chamber of the first rear offset actuator and the rodless chamber of the second rear offset actuator; The tilt unit includes a tilt actuator and a tilt unit control valve group; one end of the tilt actuator is connected to the rear offset unit actuator, and the other end is connected to the clamp frame, and the motor of the tilt actuator is connected to the electric drive unit; the first connection port a, the second connection port b, and the third connection port c of the tilt unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the oil tank, and the fourth connection port d and the fifth connection port e of the tilt unit control valve group are respectively connected to the rodless chamber and the rod chamber of the tilt actuator; The lifting unit comprises a first lifting actuator, a second lifting actuator and a lifting unit control valve group; the first lifting actuator and the second lifting actuator are arranged symmetrically, one end of the first lifting actuator and the second lifting actuator is installed on the trolley, and the other end is connected to the front swing arm, the motor of the first lifting actuator is connected to the electric drive unit, and the motor of the second lifting actuator is connected to the electric drive unit; the first connection port a, the second connection port b, and the third connection port c of the lifting unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator, and the oil tank, and the fourth connection port d and the fifth connection port e of the lifting unit control valve group are respectively connected to the rod chamber of the first lifting actuator, the rod chamber of the second lifting actuator, and the rodless chamber of the first lifting actuator and the rodless chamber of the second lifting actuator; The walking unit includes a walking drive motor, a first walking hydraulic motor, a second walking hydraulic motor and a walking unit control valve group. The walking unit is installed on a large vehicle and connected to the wheels. The walking drive motor is connected to the electric drive unit. The first connection port a, the second connection port b and the third connection port c of the walking unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator and the oil tank. The fourth connection port d and the fifth connection port e of the walking unit control valve group are respectively connected to the inlet of the first walking hydraulic motor, the inlet of the second walking hydraulic motor and the outlet of the first walking hydraulic motor and the outlet of the second walking hydraulic motor.

4. The system according to claim 3, characterized in that The travel unit is selected from any one of front-wheel drive, rear-wheel drive and front-rear-wheel combined drive based on actual needs; and each wheel is driven by a travel drive motor, a travel hydraulic motor or a travel drive motor and a travel hydraulic motor; The travel drive motor and the travel hydraulic motor drive the travel unit in any one of coaxial series connection, multi-axis parallel connection and coaxial integration; The number of the travel drive motors and travel hydraulic motors is configured based on actual needs.

5. The system according to claim 3, characterized in that The first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator, the tilt actuator, the first lifting actuator and the second lifting actuator each include a screw drive motor, a reducer, a screw pair, a seal, a cylinder body and a piston rod; The screw drive motor converts the rotational motion into the linear motion of the piston rod through the reducer and the screw pair in sequence; The hydraulic power unit drives the piston rod to move linearly through the control valve group.

6. The system according to claim 3, characterized in that The front offset unit control valve group, the rear offset unit control valve group, the tilt unit control valve group, the lifting unit control valve group and the walking unit control valve group each include a first control valve, a second control valve, a third control valve, a fourth control valve, a fifth control valve, a sixth control valve, a first pressure sensor and a second pressure sensor; The first connection port a of the front offset unit control valve group, the rear offset unit control valve group, the tilt unit control valve group, the lifting unit control valve group and the walking unit control valve group are respectively connected to the I control valve and the IV control valve, the second connection port b is respectively connected to the II control valve and the V control valve, the third connection port c is respectively connected to the III control valve and the VI control valve, the fourth connection port d is respectively connected to the I control valve, the II control valve, the III control valve and the I pressure sensor, and the fifth connection port e is respectively connected to the IV control valve, the V control valve, the VI control valve and the II pressure sensor.

7. The system according to claim 1, characterized in that The front offset unit, the rear offset unit, the tilt unit and the lifting unit are used to control the corresponding two chambers of the actuator to be connected to the high-pressure accumulator, the medium-pressure accumulator or the oil tank respectively based on the pressure information of the two chambers of the corresponding actuator measured by the first pressure sensor and the second pressure sensor, and the motor torque information of the screw-driven motor to complete the pressure matching. The screw-driven motor performs pressure, torque compensation and motion control based on the rotation angle / speed information of the motor encoder; The walking unit is used to control the corresponding walking hydraulic motor inlet and outlet to be connected to the high-pressure accumulator, the medium-pressure accumulator or the oil tank respectively based on the pressure information of the corresponding walking hydraulic motor inlet and outlet measured by the first pressure sensor and the second pressure sensor, and the motor torque information of the walking drive motor to complete pressure matching. The walking drive motor performs pressure, torque compensation and motion control according to the rotation angle / speed information of the motor encoder.

8. A control method for an electrical and hydraulic integrated drive system of a large forging manipulator, characterized in that: The system according to any one of claims 1 to 7 comprises the following steps: When the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator, the tilt actuator, the first lifting actuator, the second lifting actuator or the first travel hydraulic motor, the second travel hydraulic motor is in the overrunning condition, the kinetic energy is converted into electrical energy through the screw drive motor, the travel drive motor or the motor of the hydraulic power unit and directly converted and utilized or stored through the electric drive unit, or the kinetic energy is directly stored in the high-pressure accumulator and the medium-pressure accumulator, or the kinetic energy is stored and utilized through a combination of the electric drive unit, the high-pressure accumulator and the medium-pressure accumulator; When the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator, the tilt actuator, the first lifting actuator, the second lifting actuator or the first travel hydraulic motor, the second travel hydraulic motor is stationary, the two chambers of the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator or the inlet and outlet of the first travel hydraulic motor, the second travel hydraulic motor are at the same pressure level. When movement is required, the pressure level of the two chambers of the first front offset actuator, the second front offset actuator, the first rear offset actuator, the second rear offset actuator or one or both sides of the inlet and outlet of the first travel hydraulic motor, the second travel hydraulic motor is switched to perform system response.

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