Electric and hydraulic integrated drive system and control method for large forging manipulator

Abstract

The present invention discloses an electric-hydraulic integrated drive system and control method for a large-scale forging manipulator, belonging to the field of drive and transmission technology for forging manipulators. The system comprises an electric drive unit, a hydraulic power unit, a front offset unit, a rear offset unit, a tilting unit, a lifting unit, and a travel unit. The electric drive unit is connected to an external power grid on one hand and to the motors of the hydraulic power unit, the front offset unit, the rear offset unit, the tilting 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 tilting unit, the lifting unit, and the travel unit on the other hand. The present invention uses electric motors to control movement and hydraulics to provide power, achieving high power density, high energy efficiency, and high performance for the drive and transmission system, meeting multi-dimensional simultaneous control requirements.

Description

Technical Field

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

[0002] Hydraulic and electromechanical systems, both linear and rotary, are the two primary drive and transmission solutions, widely used in a variety of fields, including aerospace, marine vessels, defense and military industries, mining and metallurgy, construction machinery, and agricultural and forestry machinery. Each has its own unique characteristics: hydraulic transmission is favored for its high power density, large load capacity, and excellent shock resistance. Traditional valve-controlled hydraulic systems are popular for their simple structure and mature technology. However, their reliance on throttling for speed and position control leads to significant throttling losses and low system energy efficiency. While pump-controlled hydraulic systems improve efficiency by eliminating throttling losses, high-power systems suffer from significant limitations in dynamic response, installed power, and cost. In contrast, electromechanical transmission systems offer the advantages of high transmission efficiency, excellent controllability, and low maintenance costs. However, their relatively weak load capacity and insufficient shock resistance still pose challenges in high-power applications, such as slow dynamic response, high installed power, and high cost.

[0003] Existing large forging manipulators generally utilize fully hydraulic drive and control systems, which not only need to overcome external loads but also require precise motion control. However, current technology can only control one dimension: position / speed or force in linear systems, and only one dimension: angular position / speed or torque in rotary systems. These limitations make it difficult for existing large forging manipulator systems to simultaneously meet the combined requirements of maximum load, positioning accuracy, and response speed, making it difficult to achieve high power density, high energy efficiency, and high performance.

[0004] The existing patent, "Position-Pressure Control Method for Hydraulic Cylinder Positioning of Large Forging Manipulators," discloses adding a position control mode to a force control mode, preliminarily achieving control over the height, speed, and control accuracy of the hydraulic cylinder. However, force and position cannot be controlled simultaneously, and the effect is not ideal. The existing patent, "Displacement-Force Composite Control Lifting System for Forging Manipulators," discloses adding a force control mode to a position control mode, selecting the mode based on the working conditions. However, under certain working conditions, it is still difficult to simultaneously achieve precise displacement control and high compliance. Although the use of a high-frequency response proportional servo valve improves response speed, the cost is relatively high. Although these patents have made some attempts at control technology, none of them have effectively solved the problem of simultaneous position and force control, and the control system complexity is relatively high.

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

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

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

[0008] The electric drive unit is connected to the external power grid on one hand, and is connected to the electric 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;

[0009] 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.

[0010] The hydraulic power unit includes 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.

[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 and second front offset actuators are symmetrically arranged, one end of the first and second front offset actuators is mounted on the front swing arm, and the other end is connected to the boom; 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; 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;

[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 and second rear offset actuators are symmetrically arranged, one end of each 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; 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;

[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 clamp frame; 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;

[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 are 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;

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

[0016] Optionally, the travel unit is selected from any one of front-wheel drive, rear-wheel drive and front and rear wheel combined drive based on actual needs; and the driving form of each wheel is driven by a travel drive motor, a travel hydraulic motor or a travel drive motor and a travel hydraulic motor;

[0017] The travel drive motor and the travel hydraulic motor drive the travel unit in any one of coaxial series, multi-axis parallel and coaxial integrated modes;

[0018] The number of the travel drive motors and travel hydraulic motors is 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 each include a screw drive motor, a reducer, a screw pair, a seal, a cylinder, and a piston rod;

[0020] 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;

[0021] The hydraulic power unit drives the piston rod to move linearly through the 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 travel 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;

[0023] 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.

[0024] Optionally, the front offset unit, rear offset unit, tilt unit, and lifting unit are configured 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 achieve pressure matching. The screw-driven motor performs pressure and torque compensation and motion control based on the rotation angle / speed information of the motor encoder;

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

[0026] The present invention also provides a control method for an electric and hydraulic integrated drive system of a large forging manipulator, based on the system, comprising 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 travel hydraulic motor, the second travel hydraulic motor is in the overrunning condition, the kinetic potential energy is converted into electrical energy by the screw drive motor, the travel drive motor, or the motor of the hydraulic power unit and directly converted and utilized or stored by the electric drive unit, or the kinetic potential energy is directly stored in the high-pressure accumulator and the medium-pressure accumulator, or the kinetic potential energy is stored and utilized by 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 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 a system response.

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

[0030] 1. The electric and hydraulic integrated drive system for a large forging manipulator proposed in this invention can electromechanically control position / speed and angular position / speed, and hydraulically control force and torque, reducing throttling losses and facilitating rapid response. This system fully integrates the advantages of both, reducing installed power and costs. The coaxial integration of the electric motor and hydraulic motor further improves transmission efficiency.

[0031] 2. The electric-hydraulic integrated drive system for a large forging manipulator proposed in this invention achieves simultaneous control of position / speed-force and angular position / speed-torque, making position and speed control unaffected by inertia or external load forces. It offers high control accuracy and excellent control performance, and can simultaneously meet requirements for either position / speed-force or angular position / speed-torque.

[0032] 3. The electric-hydraulic integrated drive system for a large forging manipulator proposed in this invention can be connected to the pressure source when the actuator is stationary. When movement is required, it can quickly respond by switching the pressure level, reducing the pressure build-up time and further improving the system response speed.

[0033] 4. The electric-hydraulic integrated drive system for large-scale forging manipulators proposed in this invention can achieve efficient storage and utilization of kinetic energy under actuator overrun conditions, efficient sharing of DC bus energy, and flow sharing among multiple actuators, thereby improving system energy efficiency.

[0034] 5. The electric-hydraulic integrated drive system for a large forging manipulator proposed in the present invention performs pressure and torque compensation and motion control based on the position / speed information converted from the motor encoder or the angle / speed information and motor torque information of the motor encoder. There is no need to install additional displacement sensors and speed sensors, and system information is easy to obtain. It has high power density, high energy efficiency and high performance, laying the foundation for the intelligence of the forging manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0036] Figure 1 This is an appearance diagram of a large forging manipulator according to an embodiment of the present invention;

[0037] Figure 2 Schematic diagram of the mechanical structure of a large forging manipulator according to an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of an electric and hydraulic integrated drive system for a large forging manipulator according to an embodiment of the present invention;

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

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

[0041] Figure 6 This is a flow chart of position / speed-force and angular position / speed-torque decoupling control of the electric-hydraulic integrated drive system of a large forging manipulator according to an embodiment of the present invention.

[0042] Among them, 1. Electric 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. No. 1 travel hydraulic motor; 17-2. No. 2 travel hydraulic motor; 18. Front offset unit control valve group; 19. Rear offset unit control valve group; 20. Tilt unit control valve group; 21. Lifting unit control valve group; 22. Travel unit control valve group; 23. No. 1 control valve; 24. No. 2 control valve; 25. No. 3 control valve; 26. No. 4 control valve; 27. No. 5 control valve; 28. No. 6 control valve; 29. No. 1 pressure sensor; 30. No. 2 pressure sensor. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application 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 flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0045] Example 1

[0046] like Figure 1 As shown, this embodiment provides an electric and hydraulic integrated drive system for a large forging manipulator, including 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 walking unit 7.

[0047] like Figure 2 、 Figure 3 As shown, the electric drive unit 1 is connected to the external power grid on one hand, and is connected to the electric 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 travel unit 7 on the other hand;

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

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

[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, wherein: 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 12-2 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 drive unit 1 is connected; 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 oil tank 10, and 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 chamber of the first front offset actuator 12-1, the rod chamber of the second front offset actuator 12-2, and the rod chamber of the first front offset actuator 12-1, and the rodless chamber 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, wherein: 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 The electric drive unit 1 is connected; 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 oil 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, and 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, wherein: one end of the tilt actuator 14 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 14 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 tilt unit control valve group 20 are respectively connected to the high-pressure accumulator 8, the medium-pressure accumulator 9, and the oil tank 10, and the fourth connection port d and the fifth connection 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, wherein: 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 trolley, 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. Unit 1 is connected; the first connection port a, the second connection port b, and the third connection 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 oil tank 10, and the fourth connection port d and the fifth connection port e of the lifting unit control valve group 21 are respectively connected to the rod cavity of the first lifting actuator 15-1, the rod cavity of the second lifting actuator 15-2, and the rodless cavity of the first lifting actuator 15-1, and the rodless cavity of the second lifting actuator 15-2;

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

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

[0056] The travel drive motor 16, the first travel hydraulic motor 17-1 and the second travel hydraulic motor 17-2 are driven by the travel unit in any one of a coaxial series connection, a multi-axis parallel connection and a coaxial integration mode;

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

[0058] like Figure 4 As 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 all 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, which 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, and the control valves are connected to the first control valve 23 and the fourth control valve 26. The second connection port b of the 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] Furthermore, the control valve is a switch valve or a proportional valve.

[0060] like Figure 5 、 Figure 6 As shown, the front offset unit 3, the rear offset unit 4, the tilt unit 5 and the lifting unit 6 control the two chambers of the actuator to be connected to the high-pressure accumulator 8, the medium-pressure accumulator 9 or the oil tank 10 respectively based on 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 screw-driven motor, through the control valve group to complete pressure matching. The screw-driven motor performs pressure and torque compensation and motion control according to the angle / speed information of the motor encoder, without the need to install additional displacement sensors and speed sensors.

[0061] The walking unit 7 controls the inlet and outlet of the walking hydraulic motor to be connected to the high-pressure accumulator 8, the medium-pressure accumulator 9 or the oil tank 10 respectively according to the pressure information of the inlet and outlet of the walking hydraulic motor measured by the first pressure sensor 29 and the second pressure sensor 30, and the motor torque information of the walking drive motor 16 through the control valve group 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 measured pressure of the high-pressure accumulator 8 and the medium-pressure accumulator 9 is lower than the set pressure.

[0063] This embodiment also provides a control method for an electric and hydraulic integrated drive system of a large forging manipulator, based on the system, comprising 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 travel hydraulic motor 17-1, the second travel hydraulic motor 17-2 are in the overtaking condition, the kinetic potential energy is converted into electrical energy through the screw drive motor, the travel drive motor 16 or the motor of the hydraulic power unit 2 and directly converted and utilized or stored through the electric drive unit 1, or the kinetic potential energy is directly stored in the high-pressure accumulator 8 and the medium-pressure accumulator 9, or the kinetic potential energy is stored and utilized through a combination of the electric drive unit 1, the high-pressure accumulator 8 and the medium-pressure accumulator 9.

[0065] The driving cavities of the first front offset actuator 12-1, the second front offset actuator 12-2 and the first rear offset actuator 13-1, the second rear offset actuator 13-2 of the front offset unit 3 and the rear offset unit 4 are symmetrical and horizontally arranged so as not to be affected by gravity, and the inlets and outlets of the first travel hydraulic motor 17-1 and the second travel hydraulic motor 17-2 of the travel unit 7 are symmetrical.

[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 travel hydraulic motor 17-1, the second travel hydraulic motor 17-2 are at rest, the two 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 inlet and outlet of the first travel hydraulic motor 17-1, the second travel hydraulic motor 17-2 are connected to the high-pressure accumulator 8 or the medium-pressure accumulator 9, so that 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 are at rest. The two chambers of the second front offset actuator 12-2, the first rear offset actuator 13-1, and the second rear offset actuator 13-2, or the inlet and outlet sides of the first travel hydraulic motor 17-1 and the second travel hydraulic motor 17-2 are at the same pressure level. When movement is required, the pressure level of the two chambers of 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, or one side or both sides of the inlet and outlet of the first travel hydraulic motor 17-1 and the second travel hydraulic motor 17-2 is switched, which reduces the pressure building time and further improves the system response speed.

[0067] The control method provided in this embodiment uses electromechanical control of position / speed and angular position / speed, and hydraulic control of force and torque, and achieves rapid response through pressure level switching, thereby realizing simultaneous control of position / speed-force and angular position / speed-torque, and fully integrating the advantages of both electrical and hydraulic systems. The accumulator outputs multi-level pressure to meet peak power requirements, balance gravity, and overcome inertial loads. The electric motor is used for pressure and torque compensation and motion control, so that position and speed control are not affected by inertia or external load forces. It has the advantages of fast response speed, high control accuracy, low system energy consumption, installed power, and cost, and system information is easy to obtain. It has high power density, high energy efficiency, and high performance, laying the foundation for the intelligence of forging manipulators.

[0068] The above are merely preferred embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

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

2. The system according to claim 1, wherein: The hydraulic power unit includes 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, wherein: 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 and second front offset actuators are symmetrically arranged, one end of the first and second front offset actuators is mounted on the front swing arm, and the other end is connected to the boom; 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 a high-pressure accumulator, a medium-pressure accumulator, and a fuel tank; 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 each of the first and second rear offset actuators being mounted on the rear swing arm, and the other end being 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. 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 rodded chamber of the second rear offset actuator, and the rodded 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; 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 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 are 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 traveling unit includes a traveling drive motor, a first traveling hydraulic motor, a second traveling hydraulic motor and a traveling unit control valve group. The traveling unit is installed on a trolley and connected to the wheels. The traveling drive motor is connected to the electric drive unit. The first connecting port a, the second connecting port b and the third connecting port c of the traveling unit control valve group are respectively connected to the high-pressure accumulator, the medium-pressure accumulator and the oil tank. The fourth connecting port d and the fifth connecting port e of the traveling unit control valve group are respectively connected to the inlet of the first traveling hydraulic motor, the inlet of the second traveling hydraulic motor and the outlet of the first traveling hydraulic motor and the outlet of the second traveling hydraulic motor.

4. The system according to claim 3, characterized in that The travel unit can be driven by front wheels, rear wheels or both front and rear wheels based on actual needs; and each wheel can be driven by a travel drive motor, a travel hydraulic motor or both 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, multi-axis parallel and coaxial integrated modes; The number of the travel drive motors and travel hydraulic motors is configured based on actual needs.

5. The system according to claim 3, wherein: 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 speed reducer, a screw pair, a seal, a cylinder 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, wherein: 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 travel 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. A control method for an electric and hydraulic integrated drive system of a large forging manipulator, characterized in that: The system according to any one of claims 1 to 6 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 potential energy is converted into electrical energy by the screw drive motor, the travel drive motor, or the motor of the hydraulic power unit and directly converted and utilized or stored by the electric drive unit, or the kinetic potential energy is directly stored in the high-pressure accumulator and the medium-pressure accumulator, or the kinetic potential energy is stored and utilized by 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 a system response.

Images