Abstract
The efficiency of hydraulic drive system has become one of the significant issues in mobile robot. In this paper, an energy efficient two-stage supply pressure hydraulic system is proposed to solve the energy waste in the one-stage supply pressure system of the downhole traction robot. This novel two-stage hydraulic system can match different pressure requirements of actuator by changing the modes of supply pressure, which is helpful to reduce the energy loss and improve the efficiency for traction robot. Based on the robot working principle, the load characteristics in different actuators are obtained and the shortage in traditional hydraulic system is analyzed. The novel hydraulic system which consists of a high-pressure source and a low-pressure source is designed, including the system structure and energy supply method. According to the energy flow process, energy loss models of the system and components are established to analyze energy-saving principle of the novel hydraulic system. The feasibility and efficiency of two-stage supply pressure system are verified by simulating the operating process of telescopic mechanism. Finally, the simulation shows that control precision of the novel system can reach 3.5 mm and the efficiency is increased to 59.53%, which can provide theoretical reference for design of hydraulic drive system in traction robot and the efficiency improvement of multiactuator mobile robot.
Highlights
With the development of information technology, sensation technology, and control technology, mobile robots have been dramatically improved, which can be widely used in military, industry, and civil service [1,2,3]
The purpose of this paper is to provide reference and guidance for practical design for traction robot hydraulic system and mathematical analysis on drive efficiency for multiactuator mobile robot
Combined with the above traction features, a novel energy efficient two-stage supply pressure hydraulic system is presented in this paper, which is abbreviated as TSP
Summary
With the development of information technology, sensation technology, and control technology, mobile robots have been dramatically improved, which can be widely used in military, industry, and civil service [1,2,3]. As a kind of mobile robots, downhole traction robots have been applied to the development in petroleum field in recent years. They play an important role in well drilling, logging, and other borehole operations [4, 5]. In order to raise load capacity, more and more traction robots are using hydraulic system. Most traditional systems have the shortcomings of low drive efficiency and large heat release, which severely affect the reliability and durability in the robot operation [6,7,8]. Traction robot works in the complex environment with high temperature and high pressure. If the energy consumption is large in the narrow pipe, there will be lots of problems
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