| As a new type of construction machinery,broken and dismantling robots have a wide range of applications,which not only content the needs of general operation,but also have an irreplaceable advantage in high risk places.The dynamic response characteristics of the boom hydraulic system in the engineering decide the operation stability and efficiency of the whole machine.At present,the performance of the arm hydraulic control system has become the most important factor for the performance improvement of the broken and dismantling robot.However,in fact,there is little research on the design of the working arm from the angle of mechanical and hydraulic coupling.On this basis,the hydraulic control system of broken and dismantling robot arm is of great theoretical significance and engineering application value on the basis of establishing the fluid solid coupling model and on this basis.In this paper,on the basis of the characteristics of the broken and dismantling robot and the current research situation at home and abroad,the AMESim software is used to build the closed-loop LS valve pre compensation load sensitive system to build a broken and dismantling robot simulation model.It has the characteristics of power adaptive energy saving and consumption reduction,and the joint movements of the arms under the unsaturation state of the flow have no influence on each other.In addition,the closed loop control can achieve higher control precision and operation stability compared with the previous open loop control.The arm movement of the robot is composed of 4 rotation and 1 translation movements.Each action is driven by a hydraulic cylinder.Using the AMESim plane library to establish the arm model can meet the requirements of the simulation and avoid many restrictions on the joint simulation of multi software.Finally,the correctness of the model and the rationality of the scheme design and optimization design are verified through experiments and simulations.The main research works and achievements are as follows:(1)complete the combined modeling of arm mechanical hydraulic system.The HCD system of arm mechanical system model is established by using AMESim planar mechanism library,and the arm hydraulic system model is established and combined.The correctness of the modeling of the whole joint simulation system is preliminarily confirmed through simulation.(2)complete the static and dynamic analysis of the arm mechanical hydraulic system.The operation performance of arm hydraulic system is verified by single arm action,multi arm action,removal of counterbalance valve and Simulation of load dynamics at various working conditions.(3)complete the energy consumption analysis and optimization of arm hydraulic system.Through the power analysis,the energy saving design of the balancing valve and the double hydraulic cylinder is put forward,and the utilization ratio of the output power of the simulation pump is increased by more than 10%.(4)complete the engineering experiment of the arm system hydraulic system.The expansion test of each arm of the test prototype is carried out,and the accuracy of the simulation model is verified by comparing the displacement of each arm,the pressure of each cylinder and the output pressure of the pump. |
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