| The demolition robot is widely used in engineering due to its compact structure,multiple degrees of freedom,high precision and flexible operation.Using the single pump multi-actuators load-sensitive hydraulic control system,the breaking robot can adjust the output pressure and flow of the pump in real time according to the change of the load,which effectively improves the hydraulic transmission efficiency of the traditional breaking robot.However,this kind of system still has a lot of energy dissipation in the negative load and combined action.Therefore,it is necessary to further study energy recovery based on load-sensitive system,which has good significance of theoretical research and good value of engineering application.At present,most studies on energy recovery only focus on the negative load,but it is found in the research of this paper that some non-negative loads also have the possibility of using energy recovery units for recovery.In this paper,a new type of energy recovery scheme of the arm system is proposed,that is,the electronic control system is used to identify different working conditions to realize the simultaneous recovery of the potential energy and the energy consumption of pressure compensation valve under some combined actions,so as to improve the effect of energy-savings of the system.In addition,the research on energy recovery based on the single pump multi-actuators pre-valve compensation load sensitive system has the advantage that the speed of the actuators are only related to the opening of proportional valve and has nothing to do with the back pressure of the energy recovery units.The main research work and results are as follows:(1)Research on joint simulation modeling.According to the body structure and hydraulic system of the demolition robot,the joint simulation model of demolition robot is established by using the software of AMESIM and Virtual.Lab Motion,which realizes the coupling and the real-time data interaction between the electro-hydraulic system and the mechanical system.(2)Study on static and dynamic characteristics of hydraulic system and experiment.This paper analyzes the influence of different parameters on the dynamic characteristics of rotary motion,and studies the movement law of the mechanical arms under the rising,lowering and compound action,and finds the chattering phenomenon at the end of rotary braking and the initial stage of the mechanical armlowering.Besides,the accuracy of the simulation model is verified by comparing the experimental data with the simulation data.(3)Research on the analysis of energy consumption.The energy consumption of rotary braking,mechanical arm lowering and combined action of the first arm and second arm are analyzed,and the results show that there is considerable recoverable energy in safety valve,balance valve and pressure compensation valve.(4)Research on energy recovery of the rotary system.A scheme of energy recovery and utilization is designed in which the energy from rotary braking is filled into the accumulator through the reversing valve and is released at the start of the next rotation.The research results show that the designed rotary energy recovery system can not only recover the kinetic energy from braking,but also reduce the jitter at the end of the braking process.(5)Research on energy recovery of the arm system.A new type of energy recovery scheme of the arm is designed.The energy recovery of the potential energy and the consumption of the pressure compensation valve is realized through the identification of different working conditions by the electronic control system.The research results show that the scheme can save 30%~67.6% energy for the first arm and the second arm in different rising working conditions,and the stability is greatly improved when the they are put down. |
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