Research on the Load-Sensitive Feed Speed Regulating Hydraulic System of the Drilling Robot

Aiming at the problem that the traditional hydraulic system of drilling feed speed regulation cannot meet the needs of the drilling robot for energy saving and accurate regulation, the characteristics of typical feed speed regulating systems are analyzed, a load-sensitive feed speed regulating system for drilling robot is designed, and a flow regulating closed-loop of “pump-valve-load-pump” is constructed. According to the main parameters of the drilling robot, the simulation model of load-sensitive feed speed regulating hydraulic system is established, and the simulation of the slope load, the alternating load and the constant load-slope control signal are carried out. The results show that the motion speed of the cylinder is stable and the system has good load characteristics. The comparison test between the load-sensitive feed speed regulating system and the traditional bypass regulating system is carried out. The results show that the load-sensitive system has obvious advantages in transmission efficiency and control accuracy. The research results are helpful to solve the problems of hydraulic transmission efficiency and control accuracy of drilling robot, and can provide reference for the optimization of other drilling robot hydraulic systems. Also, it will promote the development of the intelligent drilling technology.