Hydraulic transmission system of cabin cleaning robot and control method

Abstract

The hydraulic transmission system comprises a main motor and is characterized in that the output end of the main motor is provided with a main hydraulic pump, the main hydraulic pump is connected with a hydraulic oil tank, one side of the main hydraulic pump (2) is provided with a main pump function switching valve set, the output end of the main hydraulic pump (2) is provided with a filtering energy storage safety valve set, and the output end of the main hydraulic pump (2) is provided with a main pump function switching valve set. A plurality of control valve banks are arranged at one end of the filtering energy storage safety valve bank, a moving part system is arranged at the rear ends of the control valve banks, and a pilot oil source valve bank is arranged on a main oil way of the hydraulic oil tank. And through the innovative mode switching design, a single pump source perfectly considers the contradictory requirements of high-precision operation and efficient walking, the performance is guaranteed, meanwhile, the system is simplified, and the cost is reduced. Precision and response are both considered; a constant pressure mode is matched with an energy accumulator, so that an extremely stable pressure environment is provided for servo control; and the energy accumulator is cut off in the load sensitive mode, so that quick response of pressure during walking is ensured.

Description

Technical Field

[0001] This invention relates to the field of engineering robots and hydraulic transmission technology, specifically to a hydraulic transmission system and control method for a cabin cleaning robot. Background Technology

[0002] The ship hull cleaning operation at dry bulk cargo terminals in ports is characterized by harsh environments, high labor intensity, and stringent safety requirements. Currently, hull cleaning equipment similar to hydraulic excavators is the mainstream solution, but it has inherent drawbacks: traditional excavators have limited joint freedom of movement and insufficient maneuverability, leaving many blind spots that are difficult to clean; their hydraulic systems typically employ a single control strategy (such as negative flow or load sensitivity), making it difficult to simultaneously meet the high requirements for pressure stability during precision operations and the high requirements for energy efficiency during equipment movement. Furthermore, hull cleaning robots have more than ten hydraulic actuators, each with different load, speed, and precision requirements. If separate pump sources are set up for different circuits, it will lead to system complexity and high costs.

[0003] Therefore, how to design a hydraulic transmission and control system that can intelligently adapt to two completely different working conditions—high-precision operation and high-efficiency walking—while sharing a single hydraulic pump source, and achieve precise coordinated control of multiple joints, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The purpose of this invention is to provide a hydraulic transmission system and control method for a cabin cleaning robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: including a main motor, characterized in that: the output end of the main motor is provided with a main hydraulic pump, the main hydraulic pump is connected to a hydraulic oil tank, a main pump function switching valve group is provided on one side of the main hydraulic pump, a filter energy storage safety valve group is provided at the output end of the main hydraulic pump, a plurality of control valve groups are provided at one end of the filter energy storage safety valve group, a moving part system is provided at the rear end of the control valve group, and a pilot oil source valve group is provided on the main oil line of the hydraulic oil tank.

[0006] Preferably, the main moving parts of the equipment include a main robotic arm, a secondary robotic arm, and a chassis. The joint drive actuators of the main robotic arm, secondary robotic arm, and chassis track travel all employ hydraulic transmission and control. The hydraulic actuators of the main robotic arm mainly include: a rotary drive hydraulic motor 1, a backlash-eliminating rotary drive hydraulic motor 2, a double hydraulic cylinder for the boom, a double hydraulic cylinder for the middle boom, a hydraulic cylinder for the forearm, a yaw hydraulic swing cylinder for the bucket, a pitch hydraulic swing cylinder for the scraper bucket, and a roll hydraulic motor for the scraper bucket—a total of eight hydraulic actuators. The hydraulic actuators of the secondary robotic arm mainly include: a pitch hydraulic swing cylinder for the secondary boom, a telescopic hydraulic cylinder for the secondary boom, and a rotary hydraulic motor for the secondary boom brush—a total of three hydraulic actuators. The hydraulic actuators of the chassis track travel mainly include: a left track travel hydraulic motor and a right track travel hydraulic motor—a total of two hydraulic actuators. Each hydraulic actuator consists of a hydraulic actuator element, a hydraulic control valve group, pipeline accessories, etc., and all actuators share a single hydraulic pump source to supply pressurized hydraulic oil.

[0007] Preferably, the main pump function switching valve group includes a two-position three-way solenoid directional valve and a remote pressure regulating proportional relief valve; when the two-position three-way solenoid directional valve is in the first working position, the control port of the main hydraulic pump is connected to the remote pressure regulating proportional relief valve, so that the main hydraulic pump operates in the remote proportional constant pressure mode; when the two-position three-way solenoid directional valve is in the second working position, the control port of the main hydraulic pump is connected to the load-sensitive control port of the travel multi-way valve group, so that the main hydraulic pump operates in the load-sensitive mode.

[0008] Preferably, the accumulator solenoid reversing valve of the filter energy storage safety valve group is configured such that: when the system is operating in constant pressure mode, the valve is not energized, and the accumulator is connected to the system to compensate for pressure fluctuations; when the system is operating in load-sensitive mode, the valve is energized to disconnect the accumulator from the system to improve the pressure response speed.

[0009] Preferably, the pilot oil source valve group includes components such as a pressure reducing valve, a pilot filter, an accumulator, a first solenoid directional valve, and a second solenoid directional valve. The pressure reducing valve reduces the pressure in the main oil circuit and uses it as a pilot control oil source. The first solenoid directional valve controls the rotary reducer brake to realize the release or loading of the reducer brake. The second solenoid directional valve controls the variable displacement control piston of the travel motor to realize the switching of the travel motor's displacement.

[0010] Preferably, the hydraulic actuator of the main robotic arm includes eight control valve groups: a rotary drive hydraulic motor 1 control valve group, a backlash elimination rotary drive hydraulic motor 2 control valve group, a boom double hydraulic cylinder control valve group, a mid-arm double hydraulic cylinder control valve group, a forearm hydraulic cylinder control valve group, a bucket yaw hydraulic swing cylinder control valve group, a scraper pitch hydraulic swing cylinder control valve group, and a scraper roll hydraulic motor control valve group. The hydraulic actuator control valve groups of the auxiliary robotic arm mainly include three hydraulic control valve groups: an auxiliary arm pitch hydraulic swing cylinder control valve group, an auxiliary arm telescopic hydraulic cylinder control valve group, and an auxiliary arm roller brush rotation hydraulic motor control valve group. Each hydraulic control valve group of the main arm and auxiliary arm mainly integrates components such as a servo proportional directional valve, a relief valve, a pressure sensor, a pressure test connector, and an oil circuit block. The servo proportional directional valve is a direct-acting single-stage valve, with the valve core directly mating to the valve body without a valve sleeve. The control valve groups for the hydraulic actuators of the main boom and auxiliary boom joints adopt distributed control valve groups, which are installed and arranged in a decentralized manner near the actuators. Among them, the control valve group for the backlash-free rotary drive motor is designed with a motor floating switching circuit. When the backlash-free rotary drive motor is actively engaged, the motor floating switching solenoid directional valve is energized and closed. When the backlash-free rotary drive motor is not engaged and is passively floating, the motor floating switching solenoid directional valve is de-energized and normally open. The engagement or disengagement of the backlash-free rotary drive motor can be selected according to the required operational accuracy.

[0011] Preferably, the main motor has an independent cooling circulation loop on its outer side, consisting of an auxiliary circulating hydraulic pump, a finned air cooler, and pipelines. The auxiliary circulating hydraulic pump is installed in series after the main hydraulic pump and is a vane pump. The finned air cooler is driven by four small AC asynchronous motors, powered by AC power, and has a built-in bypass relief valve.

[0012] Preferably, the positioning operation interlock control is as follows: When the system receives a positioning operation command, the control system locks the hydraulic circuit of the walking chassis, preventing it from moving; when the system receives a walking command, the control system locks the hydraulic circuit of the robotic arm, preventing it from moving, thus realizing the interlock of "no walking during operation and no operation during walking". 2. Main pump function switching control: According to the operation / travel mode command, when the operation mode command is issued, the solenoid directional valve is normally not energized. At this time, the main hydraulic pump works in the remote constant pressure variable mode. Based on the set pressure of the remote electro-proportional relief valve, the main hydraulic pump outputs constant pressure. When the travel mode command is issued, the solenoid directional valve is energized. At this time, the main hydraulic pump works in the load-sensitive variable mode. III. Filter-Storage Safety Valve Group Accumulator Function Switching Control: According to the operation / travel mode command, when the operation mode command is issued, the system operates in constant pressure oil source mode, the accumulator solenoid directional valve is not energized, the oil circuit is normally open, and the accumulator is connected for use; when the travel mode command is issued, the system operates in load-sensitive oil source mode, the accumulator solenoid directional valve is energized, the oil circuit is closed, and the accumulator connection is cut off. IV. Pilot oil source valve group interlock control: According to the operation / travel mode command, when the operation mode command is issued, the pilot oil source valve group solenoid directional valve 1 is energized to release the slewing reducer brake; when the travel mode command is issued, the pilot oil source valve group solenoid directional valve 1 is de-energized to load the slewing reducer brake. V. Main motor speed control: The main motor speed mode can be set to two modes: "low speed adjustment" and "standard operation", corresponding to different speeds, so that the hydraulic pump outputs different maximum flow rates, and the maximum speed of the actuator can be selected; VI. Hydraulic Pump Start-up Control: When the main motor and hydraulic pump are started normally, the solenoid directional valve of the main pump function switching valve group is normally de-energized, and the input signal of the remote electro-proportional relief valve is at its minimum value. The solenoid relief valve of the filter accumulator safety valve group is energized to unload, and the accumulator switching valve is de-energized and normally open, realizing the unloading and pressure reduction start-up of the hydraulic pump. When the system starts normally, after 3 seconds, the solenoid relief valve of the filter accumulator safety valve group is de-energized and closed, and the accumulator switching valve is de-energized and normally open. At the same time, the input signal of the remote electro-proportional relief valve is increased to the rated value and held for 5 seconds. The accumulator filling ends, the main system pressure is at the rated design value, the hydraulic pump start-up ends, and the system can then carry out operation or travel work. 7. Control valve group switching control for gapless rotary drive motor: According to the high-precision rotary / normal rotary mode command, when the high-precision rotary command is issued, the gapless rotary drive motor is actively put into use, and the motor floating switching solenoid valve is energized and closed; when the normal rotary command is issued, the gapless rotary drive motor is not put into use and is passively floating, and the motor floating switching solenoid valve is de-energized and normally open. 8. Multi-joint position servo closed-loop control: The industrial computer plans the target angle / displacement of each joint according to the working trajectory, reads the actual values ​​of each encoder / sensor, performs closed-loop calculation, and drives the corresponding servo proportional valve to make the actuator accurately reach the target position.

[0013] Compared with existing technologies, the advantages of this invention are: Dual-purpose pump, intelligent and efficient: Through innovative mode-switching design, a single pump source perfectly balances the contradictory needs of high-precision operation and efficient movement, simplifying the system and reducing costs while ensuring performance. Balanced precision and response: The constant pressure mode, combined with the accumulator, provides an extremely stable pressure environment for servo control; the load-sensitive mode cuts off the accumulator, ensuring rapid pressure response during movement. This collaborative design allows the system to maintain optimal performance under different operating conditions. High control precision: Distributed valve stations, direct-acting servo proportional valves, and fully closed-loop position control jointly ensure the coordinated movement and precise positioning of up to 13 active joints, effectively eliminating blind spots. High reliability: Comprehensive start-up control, safety protection, independent cooling, and interlocking control design ensure long-term stable operation of the system under harsh conditions.

[0014] 1. The main and auxiliary robotic arm joint transmission and control circuits adopt a closed-loop hydraulic servo control system based on a constant pressure pump source for high-precision positioning operations; the tracked chassis travel transmission and control circuit adopts an open-loop load-sensitive system based on a variable pressure pump source for equipment travel and long-distance relocation. It automatically adjusts the hydraulic oil source pressure according to the actual load requirements, which can reduce energy consumption; the main and auxiliary robotic arm circuits and the tracked chassis travel circuits share a main hydraulic pump oil source. The function and control type of the main hydraulic pump will be switched according to the system principle required by different circuits, thus forming a complete closed-loop hydraulic servo control system based on a constant pressure pump source or an open-loop load-sensitive system based on a variable pressure pump source. 2. The design includes a main pump function switching valve group, enabling the main hydraulic pump to switch between remote proportional constant pressure mode and load-sensitive function mode based on different control oil circuits, while maintaining the load-sensitive variable control mode of the main hydraulic pump itself. This allows the main pump to output constant oil pressure or variable oil pressure. 3. Equipped with a filter-accumulated safety valve assembly, it provides system oil filtration and purification, compensates for system oil source pressure fluctuations, and offers safety protection. The accumulator can be selectively connected or disconnected according to the oil source mode requirements. When the system operates in constant pressure oil source mode, the accumulator solenoid valve is de-energized, the oil circuit is normally open, and the accumulator is connected, improving the compensation effect for oil source pressure fluctuations and stabilizing the active pressure. When the system operates in load-sensitive oil source mode, the accumulator solenoid valve is energized, the oil circuit is closed, and the accumulator connection is disconnected, improving the system pressure response speed and tracking performance. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall principle of the hydraulic transmission system of the cleaning robot of the present invention.

[0016] 1. Main motor; 2. Main hydraulic pump; 3. Check valve; 4. Main pump function switching valve assembly; 401. Damping orifice; 402. Two-position three-way solenoid directional valve; 403. Remote pressure regulating proportional relief valve; 5. Filter accumulator safety valve assembly; 501. Accumulator; 502. Solenoid directional valve; 503. Filter; 504. Solenoid relief valve; 505. Pressure sensor; 506. Pressure gauge; 6. Pilot oil source valve assembly; 7. Auxiliary circulating hydraulic pump; 8. Air cooler; 9. Rotary drive hydraulic motor 1 control valve assembly; 10. Rotary drive hydraulic motor 1; 11. Clearance elimination rotary drive hydraulic motor 2 control valve assembly; 1101. Servo proportional directional valve; 1102. Motor floating switching solenoid directional valve; 1103. Relief valve; 1108. Hydraulic motor 2; 12. Boom double hydraulic cylinder control valve assembly; 13. Boom double hydraulic cylinder... 14. Mid-arm double hydraulic cylinder control valve assembly; 15. Mid-arm double hydraulic cylinder; 16. Boom hydraulic cylinder control valve assembly; 17. Boom hydraulic cylinder; 18. Bucket yaw hydraulic swing cylinder control valve assembly; 19. Bucket yaw hydraulic swing cylinder; 20. Scraper pitch hydraulic swing cylinder control valve assembly; 21. Scraper pitch hydraulic swing cylinder; 22. Scraper roll hydraulic motor control valve assembly; 23. Scraper roll hydraulic motor; 24. Auxiliary boom pitch hydraulic swing cylinder control valve assembly; 25. Auxiliary boom pitch hydraulic swing cylinder; 26. Auxiliary boom telescopic hydraulic cylinder control valve assembly; 27. Auxiliary boom telescopic hydraulic cylinder; 28. Auxiliary boom roller brush rotation hydraulic motor control valve assembly; 29. ​​Auxiliary boom roller brush rotation hydraulic motor; 30. Travel multi-way valve assembly; 31. Left track travel hydraulic motor; 32. Right track travel hydraulic motor; 33. Return oil air cooler; 34. Hydraulic oil tank. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1 The embodiments provided by the present invention are as follows: Example 1: A hydraulic transmission system and control method for a cabin cleaning robot. The main components include a main motor 1, a main hydraulic pump 2, a main pump function switching valve group 4, a filter energy storage safety valve group 5, a pilot oil source valve group 6, hydraulic actuators for the main robotic arm, auxiliary robotic arm, and chassis track walking, control valve groups for each actuator, a walking multi-way valve group 30, an auxiliary cooling circulation pump, an air cooler 8, a hydraulic oil tank 34 and accessories, pipelines and accessories, etc., as well as an electrical control system component consisting of a host computer and an industrial control computer, and a measurement and control system component consisting of displacement sensors / angle encoders, etc.

[0019] The main moving parts of the equipment mainly include three components: the main robotic arm, the auxiliary robotic arm, and the chassis. The multi-joint main robotic arm, the multi-joint auxiliary robotic arm, and the joint drive actuators of the chassis track all utilize hydraulic transmission and control. The hydraulic actuators of the main robotic arm mainly include: a rotary drive hydraulic motor 110, a backlash elimination rotary drive hydraulic motor 21108, a double hydraulic cylinder for the boom 13, a double hydraulic cylinder for the middle boom 15, a hydraulic cylinder for the forearm 17, a yaw hydraulic swing cylinder for the bucket 19, a pitch hydraulic swing cylinder for the bucket 21, and a roll hydraulic motor for the bucket 23, totaling eight hydraulic actuators. The hydraulic actuators of the auxiliary robotic arm mainly include: a pitch hydraulic swing cylinder for the auxiliary boom 25, a telescopic hydraulic cylinder for the auxiliary boom 27, and a rotating hydraulic motor for the auxiliary boom brush 29, totaling three hydraulic actuators. The hydraulic actuators of the chassis track mainly include: a left track hydraulic motor 31 and a right track hydraulic motor 32, totaling two hydraulic actuators. Each hydraulic actuator consists of hydraulic actuator elements, hydraulic control valve groups, pipeline accessories, etc., and all actuators share a single hydraulic pump source to supply pressurized hydraulic oil.

[0020] The equipment is equipped with a main motor 1 to drive the hydraulic pump. The main motor 1 is a permanent magnet synchronous liquid-cooled motor with adjustable speed. The main motor 1 has two speed modes: "low-speed adjustment" and "standard operation," corresponding to different speeds to allow the hydraulic pump to output different maximum flow rates, thus enabling the maximum speed of the actuator to be selected.

[0021] The main hydraulic pump 2 is a swashplate variable displacement piston pump, and its control function is a load-sensitive variable displacement mode. Depending on the function of the external main pump, the control valve group 4 can switch the oil circuit between different modes, enabling the main pump to operate in remote proportional constant pressure or load-sensitive mode, outputting constant or variable oil pressure.

[0022] The main pump function switching valve group 4 mainly includes components such as a control oil circuit damping orifice 401, a two-position three-way solenoid directional valve, and a remote pressure regulating proportional relief valve 1103403. When the solenoid directional valve 502 is normally de-energized, the control port of the main hydraulic pump 2 is connected to the pressure measurement and control oil circuit through the screw plug of the damping orifice 401 to the high-pressure oil outlet of the main pump. At this time, the main hydraulic pump 2 operates in remote constant pressure variable mode, and the output pressure of the main hydraulic pump 2 is kept constant according to the set pressure of the remote electro-proportional relief valve 1103. When the solenoid directional valve 502 is energized, the control port of the main hydraulic pump 2 is connected to the load-sensitive control LS port of the travel multi-way valve. At this time, the main hydraulic pump 2 operates in load-sensitive variable mode, and the remote electro-proportional relief valve 1103 is only used as a safety valve, which can realize the automatic adjustment of the output pressure of the main hydraulic pump 2 according to the travel load pressure.

[0023] The filter-accumulator safety valve assembly 5 mainly includes components such as a filter 503, an accumulator 501, a solenoid relief valve, a solenoid directional valve 502 for the accumulator 501, a pressure gauge 506, and a pressure sensor 505. The filter 503 filters and purifies the system oil, the accumulator 501 compensates for fluctuations in the system's oil pressure, and the solenoid relief valve provides safety protection for the system. When the system operates in constant pressure oil source mode, the solenoid directional valve 502 of the accumulator 501 is not energized, the oil circuit is normally open, and the accumulator 501 is in use. When the system operates in load-sensitive oil source mode, the solenoid directional valve 502 of the accumulator 501 is energized, the oil circuit is closed, and the accumulator 501 is disconnected. The pilot oil source valve group 6 mainly includes components such as a pressure reducing valve, a pilot filter 503, an accumulator 501, and a solenoid directional valve 502. It reduces the pressure of the main oil circuit and uses it as a pilot control oil source. The solenoid directional valve 5021 controls the slewing reducer brake to realize the release or loading of the reducer brake. The solenoid directional valve 5022 controls the variable control piston of the travel motor to realize the switching of the travel motor's displacement.

[0024] The main hydraulic actuator control valve group of the main robotic arm mainly includes: control valve group 9 for the rotary drive hydraulic motor 110, control valve group 8 for the rotary drive hydraulic motor 21108 for clearing backlash, control valve group 12 for the double hydraulic cylinder 13 of the main boom, control valve group 14 for the double hydraulic cylinder 15 of the middle boom, control valve group 16 for the hydraulic cylinder 17 of the forearm, control valve group 18 for the bucket yaw hydraulic swing cylinder 19, control valve group 20 for the bucket pitch hydraulic swing cylinder 21, and control valve group 22 for the bucket roll hydraulic motor 23, totaling 8 control valve groups; the auxiliary robotic arm The hydraulic actuator control valve group mainly includes: control valve group 24 for the boom pitch hydraulic swing cylinder 25, control valve group 26 for the boom telescopic hydraulic cylinder 27, and control valve group 28 for the boom roller brush rotary hydraulic motor 29, totaling three hydraulic control valve groups. Each hydraulic control valve group for the main boom and auxiliary boom mainly integrates components such as a servo proportional directional valve, a relief valve 1103, a pressure sensor 505, a pressure test connector, and a manifold block. The servo proportional directional valve is a direct-acting single-stage valve, with the valve core directly mating to the valve body without a valve sleeve. The hydraulic actuator control valve groups for the main boom and auxiliary boom joints adopt a distributed control valve group, which is installed and arranged dispersedly near the actuator. The control valve group for the gap-eliminating rotary drive motor is designed with a motor floating switching circuit. When the gap-eliminating rotary drive motor is actively put into use, the motor floating switching solenoid valve 1102 is energized and closed. When the gap-eliminating rotary drive motor is not put into use and is passively floating, the motor floating switching solenoid valve 1102 is de-energized and normally open. The use of the gap-eliminating rotary drive motor can be selected according to the required work accuracy. The control valve group of the hydraulic actuator for the left and right tracks of the chassis is an integrated 2-way load-sensitive multi-way valve group, which is a multi-way valve of engineering machinery type controlled by CAN bus; The equipment is designed with an independent cooling circulation loop, consisting of an auxiliary circulating hydraulic pump 7, an air cooler 8, and pipelines. The auxiliary circulating hydraulic pump 7 is installed in series after the main hydraulic pump 2. It is a vane pump with low noise and high speed. The finned air cooler 8 is driven by four small AC asynchronous motors and powered by AC power. It also has a built-in bypass relief valve 1103. The equipment, equipped with a host computer and industrial computer for its electrical control system, can issue electrical control commands to each electrical control component and receive feedback signals from sensors and monitoring points. Simultaneously, each joint of the main and auxiliary robotic arms is equipped with displacement sensors / angle encoders to achieve closed-loop servo control of the position of each actuator.

[0025] After the system is initially powered on, a soft start procedure is executed: the solenoid directional valve 502 of the main pump function switching valve group 4 is de-energized, the main pump is in constant pressure mode, and the input signal of the remote proportional relief valve 1103 is at its minimum value. The solenoid relief valve of the filter accumulator safety valve group 5 is energized to unload. At this time, the main motor 1 is started, and the hydraulic pump starts under light load at near-zero pressure. After 3 seconds of starting, the solenoid relief valve is de-energized and closed, the system oil circuit is established, and the input signal of the proportional relief valve 1103 slowly increases to the rated pressure (e.g., 32 MPa) within 5 seconds. During this period, the accumulator 501 is filled with oil. The start-up process ends, and the system is ready for operation.

[0026] When a detailed cleaning operation instruction is received, the electronic control system performs the following actions: a. Interlock: Locks the control signal of the travel multi-way valve, preventing the chassis from moving.

[0027] b. Mode switching: The solenoid directional valve 502 of the main pump function switching valve group 4 is kept de-energized, and the main pump operates in constant pressure mode.

[0028] c. Accumulator 501 coordination: When the solenoid valve 502 of the accumulator 501 in the filter energy storage safety valve group 5 is not energized, the accumulator 501 is connected to the system to smooth pressure fluctuations.

[0029] d. Pilot control: The solenoid directional valve 5021 of the pilot oil source valve group 6 is energized to release the slewing reducer brake.

[0030] e. Backlash elimination selection: If high-precision rotation is required, the floating switching valve of the backlash elimination motor is energized to put it into operation.

[0031] f. Closed-loop control: The industrial computer calculates the target angle of each joint according to the preset cleaning trajectory, and drives the corresponding servo proportional valve by reading the feedback from each encoder to realize the precise movement of the robotic arm.

[0032] When a travel and relocation command is received, the electronic control system performs the following actions: a. Interlock: Lock the enable signals of all robotic arm control valve groups, preventing the robotic arm from moving.

[0033] b. Mode switching: When the solenoid directional valve 502 of the main pump function switching valve group 4 is energized, the main pump switches to the load-sensitive mode, and its output pressure follows the walking load.

[0034] c. Accumulator 501 coordination: When the solenoid valve 502 of accumulator 501 is energized, the accumulator 501 is cut off to improve the system pressure response speed.

[0035] Example 2: The hydraulic control system of a cabin cleaning robot includes the following steps: 1. Positioning Operation Interlock Control: When the system receives a positioning operation command, the control system locks the hydraulic circuit of the walking chassis, preventing it from moving; when the system receives a walking command, the control system locks the hydraulic circuit of the robotic arm, preventing it from moving, thus achieving the interlock of "no walking during operation, no operation during walking". 2. Main pump function switching control: According to the operation / travel mode command, when the operation mode command is issued, the solenoid directional valve 502 is normally not energized. At this time, the main hydraulic pump 2 works in the remote constant pressure variable mode. Based on the set pressure of the remote electro-proportional relief valve 1103, the main hydraulic pump 2 outputs a constant pressure. When the travel mode command is issued, the solenoid directional valve 502 is energized. At this time, the main hydraulic pump 2 works in the load-sensitive variable mode. 3. Function switching control of accumulator 501 in filter energy storage safety valve group 5: According to the operation / travel mode command, when the operation mode command is issued, the system operates in constant pressure oil source mode, the solenoid valve 502 of accumulator 501 is not energized, the oil circuit is normally open, and accumulator 501 is connected for use; when the travel mode command is issued, the system operates in load-sensitive oil source mode, the solenoid valve 502 of accumulator 501 is energized, the oil circuit is closed, and accumulator 501 is disconnected. 4. Pilot oil source valve group 6 interlock control: According to the operation / travel mode command, when the operation mode command is issued, the pilot oil source valve group 6 solenoid directional valve 5021 is energized to release the slewing reducer brake; when the travel mode command is issued, the pilot oil source valve group 6 solenoid directional valve 5021 is de-energized to load the slewing reducer brake. 5. Main motor 1 speed control: The main motor 1 speed mode can be set to two modes: "low speed debugging" and "standard operation", corresponding to different speeds, so that the hydraulic pump outputs different maximum flow rates, and the maximum speed of the actuator can be selected; 6. Hydraulic pump start-up control: When the main motor 1 and hydraulic pump are started normally, the solenoid directional valve 502 of the main pump function switching valve group 4 is normally de-energized, and at the same time, the input signal of the remote electro-proportional relief valve 1103 is at its minimum value. The solenoid relief valve of the filter energy storage safety valve group 5 is energized to unload, and the accumulator 501 switching valve is de-energized and normally open, realizing the unloading and pressure reduction start of the hydraulic pump. When the system starts normally, after maintaining it for 3 seconds, the solenoid relief valve of the filter energy storage safety valve group 5 is de-energized and closed, the accumulator 501 switching valve is de-energized and normally open, and at the same time, the input signal of the remote electro-proportional relief valve 1103 is increased to the rated value and maintained for 5 seconds. After the accumulator 501 is filled with oil, the main system pressure is at the rated design value, the hydraulic pump start-up is completed, and the system can then carry out operation or travel work. 7. Backlash-free rotary drive motor control valve group switching control: According to the high-precision rotary / normal rotary mode command, when the high-precision rotary command is issued, the backlash-free rotary drive motor is actively put into use, and the motor floating switching solenoid valve 1102 is energized and closed; when the normal rotary command is issued, the backlash-free rotary drive motor is not put into use and is passively floating, and the motor floating switching solenoid valve 1102 is de-energized and normally open. 8. Multi-joint position servo closed-loop control: The industrial computer plans the target angle / displacement of each joint according to the working trajectory, reads the actual values ​​of each encoder / sensor, performs closed-loop calculation, and drives the corresponding servo proportional valve to make the actuator accurately reach the target position.

[0036] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description; thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A hydraulic transmission system for a cabin cleaning robot, comprising a main motor (1), characterized in that: The output end of the main motor (1) is equipped with a main hydraulic pump (2), the main hydraulic pump (2) is connected to the hydraulic oil tank (34), a main pump function switching valve group (4) is provided on one side of the main hydraulic pump (2), a filter energy storage safety valve group (5) is provided at the output end of the main hydraulic pump (2), a plurality of control valve groups are provided at one end of the filter energy storage safety valve group (5), a moving part system is provided at the rear end of the control valve group, and a pilot oil source valve group is provided on the main oil line of the hydraulic oil tank (34).

2. The hydraulic transmission system of a cabin cleaning robot according to claim 1, characterized in that: The main moving parts of the equipment include a main robotic arm, a secondary robotic arm, and a chassis. The joint drive actuators of the main robotic arm, the secondary robotic arm, and the chassis track walking all adopt hydraulic transmission and control. The hydraulic actuators of the main robotic arm mainly include: a rotary drive hydraulic motor 1 (10), a rotary drive hydraulic motor 2 (1108) for eliminating gaps, a double hydraulic cylinder for the boom, a double hydraulic cylinder for the middle boom (15), a hydraulic cylinder for the forearm (17), a hydraulic swing cylinder for the bucket yaw (19), a hydraulic swing cylinder for the bucket pitch (21), and a hydraulic motor for the bucket roll, totaling 8 hydraulic actuators. The hydraulic actuators of the secondary robotic arm mainly include: a hydraulic swing cylinder for the secondary boom pitch (25), a hydraulic cylinder for the secondary boom extension (27), and a hydraulic motor for the secondary boom roller brush rotation (29), totaling 3 hydraulic actuators. The hydraulic actuators of the chassis track walking mainly include: a hydraulic motor for the left track walking (31) and a hydraulic motor for the right track walking (32), totaling 2 hydraulic actuators. Each hydraulic actuator consists of hydraulic actuator elements, hydraulic control valve groups, pipeline accessories, etc., and all actuators share a single hydraulic pump source to supply pressurized hydraulic oil.

3. The hydraulic transmission system of a cabin cleaning robot according to claim 1, characterized in that: The main pump function switching valve group (4) includes a two-position three-way solenoid directional valve and a remote pressure regulating proportional relief valve. When the two-position three-way solenoid directional valve is in the first working position, the control port of the main hydraulic pump (2) is connected to the remote pressure regulating proportional relief valve, so that the main hydraulic pump (2) works in the remote proportional constant pressure mode. When the two-position three-way solenoid directional valve is in the second working position, the control port of the main hydraulic pump (2) is connected to the load-sensitive control port of the travel multi-way valve group (30), so that the main hydraulic pump (2) works in the load-sensitive mode.

4. The hydraulic transmission system of a cabin cleaning robot according to claim 1, characterized in that: The accumulator (501) solenoid reversing valve (502) of the filter energy storage safety valve group (5) is configured such that: when the system is operating in constant pressure mode, the valve is not energized, and the accumulator (501) is connected to the system to compensate for pressure fluctuations; when the system is operating in load sensitive mode, the valve is energized to disconnect the accumulator (501) from the system to improve the pressure response speed.

5. The hydraulic transmission system of a cabin cleaning robot according to claim 1, characterized in that: The pilot oil source valve group (6) includes components such as a pressure reducing valve, a pilot filter (503), an accumulator (501), a first solenoid directional valve (502), and a second solenoid directional valve (502). The pressure reducing valve reduces the pressure of the main oil circuit and uses it as a pilot control oil source. The first solenoid directional valve (502) controls the rotary reducer brake to realize the release or loading of the reducer brake. The second solenoid directional valve (502) controls the variable control piston of the travel motor to realize the switching of the displacement of the travel motor.

6. The hydraulic transmission system of a cabin cleaning robot according to claim 5, characterized in that: The hydraulic actuator of the main robotic arm includes a control valve group (9) for a rotary drive hydraulic motor 1 (10), a control valve group (1108) for a rotary drive hydraulic motor 2 (1108) for clearing backlash, a control valve group for a double hydraulic cylinder of the main arm, a control valve group (14) for a double hydraulic cylinder of the middle arm (15), a control valve group (16) for a hydraulic cylinder of the forearm (17), a control valve group (18) for a yaw hydraulic swing cylinder of the bucket (19), a control valve group (20) for a pitch hydraulic swing cylinder of the scraper bucket (21), and a control valve group (22) for a scraper bucket roll hydraulic motor, totaling eight control valve groups; the auxiliary robotic arm The hydraulic actuator control valve group mainly includes: the control valve group (24) for the boom pitch hydraulic swing cylinder (25), the control valve group (26) for the boom telescopic hydraulic cylinder (27), and the control valve group (28) for the boom roller brush rotary hydraulic motor (29), totaling three hydraulic control valve groups; each hydraulic control valve group of the main boom and the auxiliary boom mainly integrates components such as a servo proportional directional valve, a relief valve (1103), a pressure sensor (505), a pressure test connector, and an oil circuit block; the servo proportional directional valve is a direct-acting single-stage valve, with the valve core directly mating with the valve body without a valve sleeve. The hydraulic actuator control valve groups of the main boom and the auxiliary boom joint adopt distributed control valve groups, which are installed and arranged in a dispersed manner near the actuator. The control valve group for the gap-eliminating rotary drive motor is designed with a motor floating switching circuit. When the gap-eliminating rotary drive motor is actively put into use, the motor floating switching solenoid valve (1102) is energized and closed. When the gap-eliminating rotary drive motor is passively floating and not put into use, the motor floating switching solenoid valve (1102) is de-energized and normally open. The use of the gap-eliminating rotary drive motor can be selected according to the required work accuracy.

7. The hydraulic transmission system of a cabin cleaning robot according to claim 1, characterized in that: The main motor (1) has an independent cooling circulation loop on its outer side, consisting of an auxiliary circulating hydraulic pump (7), a finned air cooler (8), and pipelines. The auxiliary circulating hydraulic pump (7) is installed in series after the main hydraulic pump (2). The auxiliary circulating hydraulic pump (7) is a vane pump. The finned air cooler (8) is driven by four small AC asynchronous motors and powered by AC power. It has a built-in bypass overflow valve (1103).

8. A hydraulic control method for a cabin cleaning robot, characterized in that: I. Positioning Operation Interlock Control: When the system receives a positioning operation command, the control system locks the hydraulic circuit of the walking chassis, preventing it from moving; when the system receives a walking command, the control system locks the hydraulic circuit of the robotic arm, preventing it from moving, thus achieving the interlock of "no walking during operation, no operation during walking". II. Main pump function switching control: According to the operation / travel mode command, when the operation mode command is issued, the solenoid directional valve (502) is normally not energized. At this time, the main hydraulic pump (2) works in the remote constant pressure variable mode. Based on the set pressure of the remote electro-proportional relief valve (1103), the main hydraulic pump (2) outputs constant pressure. When the travel mode command is issued, the solenoid directional valve (502) is energized. At this time, the main hydraulic pump (2) works in the load sensitive variable mode.

3. Filter storage safety valve group (5) Accumulator (501) function switching control: According to the operation / walking mode command, when the operation mode command is issued, the system works in constant pressure oil source mode, the accumulator (501) solenoid reversing valve (502) is not energized, the oil circuit is always open, and the accumulator (501) is connected for use; when the walk mode command is issued, the system works in load sensitive oil source mode, the accumulator (501) solenoid reversing valve (502) is energized, the oil circuit is closed, and the accumulator (501) is connected to the cut-off; IV. Pilot oil source valve group (6) interlock control: According to the operation / travel mode command, when the operation mode command is issued, the pilot oil source valve group (6) solenoid directional valve (502) 1 is energized to release the slewing reducer brake; when the travel mode command is issued, the pilot oil source valve group (6) solenoid directional valve (502) 1 is de-energized to load the slewing reducer brake. V. Main motor (1) speed control: The main motor (1) speed mode can be set to two modes: "low speed debugging" and "standard operation", corresponding to different speeds, so that the hydraulic pump outputs different maximum flow rates, and the maximum speed of the actuator can be selected; VI. Hydraulic pump start control: When the main motor (1) and hydraulic pump are started normally, the solenoid directional valve (502) of the main pump function switching valve group (4) is normally not energized, and at the same time the input signal of the remote electro-proportional relief valve (1103) is at the minimum value. The solenoid relief valve (1103) (504) of the filter energy storage safety valve group (5) is energized to unload, and the accumulator (501) switching valve is not energized and is normally open, so as to realize the unloading and pressure reduction start of the hydraulic pump. When the system starts normally, after 3 seconds, the solenoid relief valve (1103) (504) of the filter energy storage safety valve group (5) is de-energized and closed, the accumulator (501) switching valve is not energized and is normally open, and at the same time the input signal of the remote electro-proportional relief valve (1103) is raised to the rated value and held for 5 seconds. After the accumulator (501) finishes filling, the main system pressure is at the rated design value, the hydraulic pump start ends, and the system can then carry out operation or walking work.

7. Control valve group switching control for backlash-free rotary drive motor: According to the high-precision rotary / normal rotary mode command, when the high-precision rotary command is issued, the backlash-free rotary drive motor is actively put into use, and the motor floating switching solenoid valve (1102) is energized and closed; when the normal rotary command is issued, the backlash-free rotary drive motor is not put into use and is passively floating, and the motor floating switching solenoid valve (1102) is de-energized and normally open.

8. Multi-joint position servo closed-loop control: The industrial computer plans the target angle / displacement of each joint according to the working trajectory, reads the actual values ​​of each encoder / sensor, performs closed-loop calculation, and drives the corresponding servo proportional valve to make the actuator accurately reach the target position.

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