CN108343646B - An electro-hydraulic hybrid drive mechanical arm control system and control method - Google Patents

Abstract

The invention discloses an electrohydraulic hybrid driving type mechanical arm control system and a control method. Under the light load working condition, the unidirectional variable vane pump at the oil supply source supplies oil, the loop realizes the confluence in the valve, and the parallel single-rod hydraulic cylinder fast action realizes the fast lifting; under the heavy-load stable ascending working condition, the hydraulic-electric secondary element switches an engine-hydraulic pump mode, and the engine outputs torque to drive the hydraulic pump to operate so as to form a pump control cylinder closed loop; under the gravity drop working condition, the hydraulic-electric secondary element switches the mode of a hydraulic motor-generator, and the energy released when the gravity of the mechanical arm drops drives the hydraulic motor to output torque. Under the condition of reaching a certain system pressure and descending height, the electric power is generated by a generator coaxial with the hydraulic motor to charge the storage battery.

Description

An electro-hydraulic hybrid drive mechanical arm control system and control method

technical field

The invention belongs to the field of electro-hydraulic hybrid control, and in particular relates to an electro-hydraulic hybrid-driven mechanical arm control system and a control method.

Background technique

In the manufacturing industry, industrial robots have become essential mechanical automation equipment. Industrial robots include humanoid robots, wheeled robots, crawling or peristaltic robots, and robotic arms. Among them, the robotic arm has a fixed movable link, which can replace human beings to complete some dangerous and heavy-duty tasks, and has various application scenarios. With the continuous advancement of mechanical automation, the application of robotic arm technology has become increasingly mature. In many fields such as industry, construction, and logistics, robotic arms are widely used to reprint large and heavy-duty objects, such as discrete buildings in house construction. Docking, loading of the bridge body during bridge construction.

In order to adapt to heavy load working conditions, the existing large-scale loading manipulators often use high-torque hydraulic pumps as power components, and drive motors or cylinders and other actuators through hydraulic pressure to achieve working conditions. In order to meet greater load requirements and achieve a wider working area, the robotic arm will construct a double-cylinder synchronous circuit, and set up synchronous devices such as diversion and flow valves to eliminate position errors. Under different load conditions (especially light load conditions), the single-pump driving method leads to increased energy loss and increased heat generation in the high-pressure pipeline. The stability of the single-pump drive is also relatively poor under large strokes, which may easily cause the vibration of the oil cylinder or insufficient pressure of the support arm, which seriously affects the operation effect.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned deficiencies, provide an electro-hydraulic hybrid drive type mechanical arm control system and control method, improve lifting stability, improve energy utilization rate, meet stable and efficient operation requirements under multiple working conditions and realize energy recovery Reuse.

In order to achieve the above purpose, an electro-hydraulic hybrid drive mechanical arm control system includes two parallel single-rod hydraulic cylinders arranged on the mechanical arm. The downstream of the two single-rod hydraulic cylinders is respectively connected to two bidirectional hydraulic locks. There is a proportional speed regulating valve downstream of the lock, and the two proportional speed regulating valves are connected to the one-way speed regulating valve, and the one-way speed regulating valve is connected to the first two-position two-way electromagnetic switch valve and the first two-position two-way electromagnetic reversing valve. The first two-position two-way electromagnetic switch valve is connected to the hydraulic-electric secondary element, the hydraulic-electric secondary element is connected to the speed measuring instrument and the second two-position two-way electromagnetic switch valve, and the second two-position two-way electromagnetic switch valve is connected to the third Two-position two-way electromagnetic switch valve, the third two-position two-way electromagnetic switch valve is connected to the first two-position two-way electromagnetic reversing valve, the first two-position two-way electromagnetic switch valve is connected to the pressure limiting valve, and the pressure limiting valve is connected to the accumulator and the input end of the back pressure check valve, the accumulator is connected to the output ends of the two spring hydraulic control check valves, the output end of the first spring hydraulic control check valve is connected to the output end of the one-way speed regulating valve, The output end of the second hydraulic control check valve with spring is two single-rod hydraulic cylinders, the output end of the back pressure check valve is connected to the second two-position two-way electromagnetic reversing valve, and the first two-position two-way electromagnetic reversing valve The second two-position two-way electromagnetic reversing valve is connected to the four-position six-way electromagnetic reversing valve, and the four-position six-way electromagnetic reversing valve is connected to the one-way variable vane pump, which is driven by the motor, and the two single-rod hydraulic pressure All cylinders are connected to pressure sensors, and the mechanical arm is equipped with a resistive position sensor. The speed measuring instrument, resistive position sensor and pressure sensor are all connected to the controller. The controller is connected to the frequency converter, and the frequency converter is connected to hydraulic-electrical secondary components;

The controller is used to collect the speed signal, position signal and pressure signal output by the speed measuring instrument, resistive position sensor and pressure sensor respectively, convert them into feedback control signals, and send them to the hydraulic-electric secondary components after frequency conversion by the frequency converter;

The hydraulic-electrical secondary component includes a control unit connected to the frequency converter. The control unit is connected to the engine and the hydraulic pump. The control unit is used to switch the engine or the hydraulic pump and is connected to the first two-position two-way solenoid switch valve and the second two-position two-way solenoid valve. switch valve.

The hydraulic-electrical secondary component is connected to the pressure limiting valve, and the pressure limiting valve is connected to the input ends of the two first one-way valves, and the output end of one of the first one-way valves is connected to two single-rod hydraulic cylinders, and the second two-position two-way solenoid The on-off valve, the third two-position two-way electromagnetic switch valve and the second two-position two-way electromagnetic reversing valve, and the output end of the other first one-way valve is connected to the output end of the one-way speed regulating valve.

The hydraulic-electrical secondary element is connected to the charge relief valve, and the charge relief valve is connected to the output ends of two second check valves, and the input end of one of the second check valves is connected to two single-rod hydraulic cylinders, the second The two-position two-way electromagnetic switch valve, the third two-position two-way electromagnetic switch valve and the second two-position two-way electromagnetic reversing valve, and the input end of the second one-way valve is connected to the output end of the one-way speed regulating valve.

The third two-position two-way electromagnetic switch valve is connected to the first position switch.

Both the first two-position two-way electromagnetic switch valve and the second two-position two-way electromagnetic switch valve are connected to the second position switch.

The proportional speed regulating valve adopts a one-way valve bridge structure.

A control method for an electro-hydraulic hybrid driven manipulator control system. When it is in the light-load rapid lifting working condition, the four-position six-way electromagnetic reversing valve is switched to the left position, the second position switch is closed, and the second position is closed. The switch controls the first two-position two-way electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve to switch to the left position, the first two-position two-way electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve to switch to the upper position , the oil circuit of the hydraulic-electrical secondary component is cut off and does not work. The pressure oil port of the one-way variable vane pump is directly connected to the oil circuit at both ends of the hydraulic cylinder, and the high-pressure oil flows in the four-position six-way electromagnetic reversing valve. A differential circuit is formed, and the mechanical arm is lifted quickly under light load conditions.

A control method for an electro-hydraulic hybrid driven manipulator control system. When the heavy load is in a stable lifting condition, the four-position six-way electromagnetic reversing valve is switched to the left two-position, and the third two-position two-way electromagnetic on-off valve connected, the first two-position two-way electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve are in the upper position, the one-way variable vane pump supplies oil for the low-pressure side, the first two-position two-way electromagnetic reversing valve and the second The two-two-position two-way electromagnetic reversing valve is in the connected state, the electrical-hydraulic secondary components are connected to the circuit, and work in the "engine-hydraulic pump" mode to form a pump-controlled cylinder closed circuit, and the high-pressure oil is regulated through one-way After the valve, open two proportional speed regulating valves and two two-way hydraulic locks to push the hydraulic cylinder to rise steadily. At the same time, the high-pressure oil opens the second hydraulic control check valve with spring, and the accumulator releases the pressure oil to replenish the low-pressure side. , during the lifting process, the pressure sensor outputs the system pressure signal, the resistive position sensor outputs the height signal, the speed measuring instrument outputs the speed signal, and the feedback electric signal is input into the frequency converter through the controller, and the frequency converter compensates the speed difference of the engine to improve the lifting speed. stability.

A control method for an electro-hydraulic hybrid driven manipulator control system. When in the gravity falling condition, the four-position six-way electromagnetic reversing valve is switched to the right position. At this time, the first position switch is closed, and the third two position two The electromagnetic on-off valve is energized and disconnected, cutting off the connection between the low-pressure side of the pipeline and the hydraulic oil source, and the one-way variable vane pump outputs high-pressure oil to open the back-pressure check valve to charge the accumulator. The through electromagnetic reversing valve and the second two-position two-way electromagnetic reversing valve are in the connected state, the electrical-hydraulic secondary element 16 is connected to the circuit, and works in the "hydraulic motor-generator" mode, under the action of gravity, the single-rod The hydraulic cylinder is lowered, and the high-pressure oil drives the hydraulic motor to output torque. When the heavy load is lowered, if the lowering height is greater than 2/3 of the cylinder stroke and the speed is greater than the rated speed of the generator, the generator coil coaxial with the motor rotates to generate electricity. Charge the accumulator for energy recovery.

Compared with the prior art, the present invention sets two kinds of power elements, a motor-controlled one-way variable vane pump and a hydraulic-electric secondary element, and adopts different load driving modes under different load conditions. Under light load conditions, the oil supply source is supplied by a unidirectional variable vane pump, and the circuit realizes confluence in the valve, and the parallel single-rod hydraulic cylinders move quickly to achieve rapid lifting; under heavy load steady rising conditions, the hydraulic-electric secondary The component switches the "engine-hydraulic pump" mode, and the output torque of the engine drives the hydraulic pump to run, forming a closed loop of the pump control cylinder; under the condition of gravity falling, the hydraulic-electric secondary component switches the "hydraulic motor-generator" mode, and the mechanical arm The energy released when the force of gravity falls drives the hydraulic motor to output torque. When a certain system pressure and descending height are reached, the generator coaxial with the hydraulic motor generates electricity to charge the battery. The invention adopts a closed-loop feedback system to feed back real-time electrical signals, controls the frequency converter to compensate for the engine speed difference, improves the stability of the mechanical arm under heavy load conditions, improves the position accuracy of the synchronization loop, enhances the load adaptability, and improves the lifting stability under different working conditions performance; energy recovery and reuse can be achieved.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the control flow chart of light-load hoisting working condition of the present invention;

Fig. 3 is the flow chart of the control of the heavy load steady rising working condition of the present invention;

Fig. 4 is the flow chart of the control of the gravity falling working condition of the present invention;

Among them, 1. Single-rod hydraulic cylinder, 2. Two-way hydraulic lock, 3. Proportional speed regulating valve, 4. One-way speed regulating valve, 5. One-way valve, 6. Pressure limiting valve, 7. One-way valve, 8 supplementary Oil overflow valve, 9.1, the first hydraulic control check valve with spring, 9.2, the second hydraulic control check valve with spring, 10, pressure limiting valve, 11, accumulator, 12, back pressure check valve, 13. One-way variable vane pump, 14, four-position six-way electromagnetic reversing valve, 15.1, first position switch, 15.2, second position switch, 16, hydraulic-electric secondary component, 17.1, first two-position two-way Solenoid switch valve, 17.2, second two-position two-way electromagnetic switch valve, 18, third two-position two-way electromagnetic switch valve, 19.1 first two-position two-way electromagnetic reversing valve, 19.2 second two-position two-way electromagnetic reversing valve Valve, 20, rotational speed measuring instrument, 21, resistive position sensor, 22, pressure sensor.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Referring to Fig. 1 , an electro-hydraulic hybrid driven manipulator control system includes two parallel single-rod hydraulic cylinders 1 arranged on the manipulator. The downstream of the hydraulic lock 2 is provided with a proportional speed regulating valve 3, and the two proportional speed regulating valves 3 are connected to the one-way speed regulating valve 4, and the one-way speed regulating valve 4 is connected to the first two-position two-way electromagnetic switch valve 17.1 and the first two-position Two-way electromagnetic reversing valve 19.1, the first two-position two-way electromagnetic switch valve 17.1 is connected to the hydraulic-electric secondary element 16, and the hydraulic-electric secondary element 16 is connected to the speed measuring instrument 20 and the second two-position two-way electromagnetic switch valve 17.2 , the second two-position two-way electromagnetic switch valve 17.2 is connected to the third two-position two-way electromagnetic switch valve 18, the third two-position two-way electromagnetic switch valve 18 is connected to the first two-position two-way electromagnetic reversing valve 19.1, the first two-position The two-way electromagnetic switch valve 17.1 is connected to the pressure limiting valve 10, the pressure limiting valve 10 is connected to the input end of the accumulator 11 and the back pressure check valve 12, and the accumulator 11 is connected to the output ends of the two hydraulic control check valves with springs , the output end of the first hydraulic control check valve 9.1 with spring is connected to the output end of the one-way speed control valve 4, the output end of the second hydraulic control check valve 9.2 with spring is two single-rod hydraulic cylinders 1, back pressure single The output end of the directional valve 12 is connected to the second two-position two-way electromagnetic reversing valve 19.2, the first two-position two-way electromagnetic reversing valve 19.1 and the second two-position two-way electromagnetic reversing valve 19.2 are connected to the four-position six-way electromagnetic reversing valve Valve 14, the four-position six-way electromagnetic reversing valve 14 is connected to the one-way variable vane pump 13, the one-way variable vane pump 13 is driven by the motor, the two single-rod hydraulic cylinders 1 are connected to the pressure sensor 22, and the mechanical arm is equipped with a resistive The position sensor 21, the speed measuring instrument 20, the resistive position sensor 21 and the pressure sensor 22 are all connected to the controller, the controller is connected to the frequency converter, and the frequency converter is connected to the hydraulic-electric secondary element 16;

The controller is used to collect the speed signal, position signal and pressure signal respectively output by the speed measuring instrument 20, the resistive position sensor 21 and the pressure sensor 22, convert them into feedback control signals, and send them to the hydraulic-electric secondary components after frequency conversion by the frequency converter 16;

The hydraulic-electric secondary element 16 includes a control unit connected to the frequency converter, the control unit is connected to the engine and the hydraulic pump, and the control unit is used to switch the engine or the hydraulic pump to connect the first two-position two-way electromagnetic switch valve 17.1 and the second two-position two-way Through electromagnetic switching valve 17.2.

The hydraulic-electrical secondary element 16 is connected to the pressure limiting valve 6, and the pressure limiting valve 6 is connected to the input ends of the two first one-way valves 5, and the output end of one of the first one-way valves 5 is connected to the two single-rod hydraulic cylinders 1 and 1. The second two-position two-way electromagnetic switch valve 17.2, the third two-position two-way electromagnetic switch valve 18 and the second two-position two-way electromagnetic reversing valve 19.2, and the output end of the other first one-way valve 5 is connected to the one-way speed regulating valve 4 output terminal.

The hydraulic-electrical secondary element 16 is connected to the charge relief valve 8, and the charge relief valve 8 is connected to the output ends of two second check valves 7, and the input end of one of the second check valves 7 is connected to two single-rod Hydraulic cylinder 1, the second two-position two-way electromagnetic switch valve 17.2, the third two-position two-way electromagnetic switch valve 18 and the second two-position two-way electromagnetic reversing valve 19.2, and the input end of the other second one-way valve 7 is connected to The output end of one-way speed regulating valve 4.

The third two-position two-way electromagnetic switch valve 18 is connected to the first position switch 15.1, and the first two-position two-way electromagnetic switch valve 17.1 and the second two-position two-way electromagnetic switch valve 17.2 are both connected to the second position switch 15.2.

The proportional speed regulating valve 3 adopts a one-way valve bridge structure.

Referring to Fig. 2, light-load rapid lifting working condition: the four-position six-way reversing valve 14 is switched to the left position, and the second position switch 15.2 is contacted and closed. The second position switch 15.2 controls the first two-position two-way electromagnetic switch valve 17.1 and the second two-position electromagnetic switch valve 17.2 to switch the left position, the first two-position two-way electromagnetic reversing valve 19.1 and the second two-position two-way electromagnetic reversing valve The valve 19.2 switches to the upper position, and the oil circuit of the hydraulic-electric secondary component 16 is cut off and does not work. The pressure oil port of the one-way variable vane pump 13 is directly connected with the oil passages at both ends of the hydraulic cylinder, and the high-pressure oil flows in the four-position six-way electromagnetic reversing valve 14 to form a differential circuit. The robotic arm lifts quickly under light load conditions.

See Fig. 3, heavy-duty steady lifting working condition: the four-position six-way reversing valve 14 is switched to the left two positions, the third two-position two-way electromagnetic switch valve 18 is connected, the first two-position two-way electromagnetic reversing valve 19.1 And the second 2-position 2-way electromagnetic reversing valve 19.2 is in the upper position, and the one-way variable vane pump 13 is oil supplement for the low-pressure side. The first two-position two-way electromagnetic switch valve 17.1 and the second two-position electromagnetic switch valve 17.2 are in the on state, the electrical-hydraulic secondary element 16 is connected to the circuit, and works in the "engine-hydraulic pump" mode to form a pump control cylinder closed loop. After the high-pressure oil passes through the pressure limiting valve 6, the proportional speed regulating valve and the two-way hydraulic lock are opened to push the hydraulic cylinder to lift smoothly. At the same time, the high-pressure oil opens the second spring hydraulic control check valve 9.2, and the accumulator releases the pressure oil to supplement the low-pressure side. During the lifting process, the pressure sensor 22 outputs the system pressure signal, the resistive position sensor 21 outputs the height signal, and the rotational speed measuring instrument 20 outputs the rotational speed signal, and the feedback electric signal is input into the frequency converter through the controller, and the frequency converter compensates the rotational speed difference of the engine, thereby improving Lifting stability.

Referring to Fig. 4, the working condition of gravity drop: the four-position six-way electromagnetic reversing valve 14 is switched to the right position, at this time the first position switch 15.1 is contacted and closed, the third two-position two-way electromagnetic switch valve 18 is energized and disconnected, and the pipe is cut off. The connection between the low pressure side of the road and the hydraulic oil source. The one-way variable vane pump 13 outputs high-pressure oil to open the back pressure check valve 12 to charge the accumulator 11 . (In hoisting conditions, the lower high-pressure oil opens the second spring-loaded hydraulic control check valve 9.2 at one end of the low-pressure oil circuit, and the pressure oil output from the accumulator 11 is used to replenish oil for the low-pressure oil circuit.) The first two-position two-way The electromagnetic switch valve 17.1 and the second two-position electromagnetic switch valve 17.2 are in the on state, the electrical-hydraulic secondary element 16 is connected to the circuit, and works in the "hydraulic motor-generator" mode. Under the action of gravity, the hydraulic cylinder descends, and the high-pressure oil drives the hydraulic motor to output torque. In heavy-load descending conditions, if the landing height is greater than 2/3 of the cylinder stroke and the speed is greater than the rated speed of the generator, the generator coil coaxial with the motor rotates to generate electricity to charge the battery and realize energy recovery.

In the existing scheme, under light load and heavy load conditions, it is driven by a pump, which results in large energy loss and limited operating efficiency. In this solution, by adding a one-way hydraulic pump controlled by an electric motor and setting a fast-lifting working condition, the operating efficiency of the manipulator under light load and no load can be significantly improved.

In the existing scheme, it is easy to shake when lifting under heavy load conditions, and it is difficult to lift when the working height is high. This scheme sets up multiple mechanisms to ensure that the pressure is constant and the lifting is stable when the manipulator is under heavy load lifting conditions: 1. The accumulator supplies oil to the low pressure side. 2. The one-way hydraulic pump supplies oil to the low pressure side. 3. The proportional speed regulating valve is equipped with a one-way valve bridge structure. Only one oil circuit can transmit oil, and the other oil circuit is closed by high-pressure oil to avoid "missing arms". 4. The closed-loop feedback loop outputs feedback electrical signals in real time, and controls the frequency converter to perform slip compensation on the engine.

In the prior art, the energy loss of the power landing scheme is very large, and the existing gravity landing scheme does not consider the effective use of the gravitational potential energy. In this scheme, electric-hydraulic secondary components are introduced to switch to the "hydraulic motor-generator" mode when gravity falls, which can convert the potential energy of the heavy object into motor torque. When a certain system pressure and falling height are reached, the motor Drive the generator to charge the accumulator to realize the effective reuse of energy.

This solution introduces a proportional speed regulating valve with high position accuracy, which can meet the higher precision operation requirements under complex working conditions. The device also has a certain range of speed regulation, and the opening of the proportional speed regulating valve can be adjusted synchronously through the electrical signal, so that the lifting or lowering speed of the mechanical arm can be adjusted in real time.

Claims (7)

1. An electro-hydraulic hybrid drive type mechanical arm control system is characterized in that it comprises two parallel single-rod hydraulic cylinders (1) arranged on the mechanical arm, and two single-rod hydraulic cylinders (1) downstream are respectively connected with two A two-way hydraulic lock (2), the downstream of the two-way hydraulic lock (2) is provided with a proportional speed regulating valve (3), the two proportional speed regulating valves (3) are connected to the one-way speed regulating valve (4), and the one-way speed regulating valve (4) Connect the first two-position two-way electromagnetic switch valve (17.1) and the first two-position two-way electromagnetic reversing valve (19.1), and the first two-position two-way electromagnetic switch valve (17.1) is connected to the hydraulic-electrical secondary component (16), the hydraulic-electric secondary component (16) is connected to the speed measuring instrument (20) and the second two-position two-way electromagnetic switch valve (17.2), and the second two-position two-way electromagnetic switch valve (17.2) is connected to the third two-way One-position two-way electromagnetic switch valve (18), the third two-position two-way electromagnetic switch valve (18) is connected to the first two-position two-way electromagnetic reversing valve (19.1), and the first two-position two-way electromagnetic switch valve (17.1) is connected to The pressure limiting valve (10), the pressure limiting valve (10) is connected to the input end of the accumulator (11) and the back pressure check valve (12), and the accumulator (11) is connected to two spring hydraulic control check valves The output end of the first hydraulic control check valve with spring (9.1) is connected to the output end of the one-way speed regulating valve (4), and the output end of the second hydraulic control check valve with spring (9.2) is two one-way The rod hydraulic cylinder (1), the output end of the back pressure check valve (12) is connected to the second two-position two-way electromagnetic reversing valve (19.2), the first two-position two-way electromagnetic reversing valve (19.1) and the second The two-position two-way electromagnetic directional valve (19.2) is connected to the four-position six-way electromagnetic directional valve (14), the four-position six-way electromagnetic directional valve (14) is connected to the one-way variable vane pump (13), and the one-way variable vane pump (13) Driven by an electric motor, the two single-rod hydraulic cylinders (1) are connected to pressure sensors (22), and the mechanical arm is provided with a resistive position sensor (21), a rotational speed measuring instrument (20), a resistive position sensor (21 ) and the pressure sensor (22) are connected to the controller, the controller is connected to the frequency converter, and the frequency converter is connected to the hydraulic-electric secondary element (16); The controller is used to collect the rotational speed signal, position signal and pressure signal respectively output by the rotational speed measuring instrument (20), the resistive position sensor (21), and the pressure sensor (22), convert them into feedback control signals, and send them to the Hydraulic-electrical secondary components (16); The hydraulic-electrical secondary component (16) includes a control unit connected to the frequency converter, the control unit is connected to the engine and the hydraulic pump, the control unit is used to switch the engine or the hydraulic pump and is connected to the first two-position two-way electromagnetic switch valve (17.1) and the second Two-two-position two-way electromagnetic switch valve (17.2); The third two-position two-way electromagnetic switch valve (18) is connected to the first position switch (15.1); Both the first two-position two-way electromagnetic switch valve (17.1) and the second two-position two-way electromagnetic switch valve (17.2) are connected to the second position switch (15.2). 2. An electro-hydraulic hybrid drive type mechanical arm control system according to claim 1, characterized in that the hydraulic-electric secondary element (16) is connected to the pressure limiting valve (6), and the pressure limiting valve (6) is connected to two The input end of the first one-way valve (5), wherein the output end of one of the first one-way valve (5) is connected with two single-rod hydraulic cylinders (1), the second two-position two-way electromagnetic switch valve (17.2), the first two-position two-way electromagnetic switch valve (17.2), the first The three-two-position two-way electromagnetic switching valve (18) and the second two-position two-way electromagnetic reversing valve (19.2), and the output end of the other first one-way valve (5) is connected to the output end of the one-way speed regulating valve (4) . 3. A kind of electro-hydraulic hybrid drive type mechanical arm control system according to claim 1, characterized in that, the hydraulic-electric secondary element (16) is connected to the oil-charging overflow valve (8), and the oil-charging overflow valve ( 8) Connect the output ends of the two second one-way valves (7), and the input end of one of the second one-way valves (7) is connected to two single-rod hydraulic cylinders (1), the second two-position two-way electromagnetic switch valve (17.2), the third two-position two-way electromagnetic switching valve (18) and the second two-position two-way electromagnetic reversing valve (19.2), and the input end of the second one-way valve (7) is connected to the one-way speed regulating valve (4) output terminal. 4. An electro-hydraulic hybrid driven manipulator control system according to claim 1, characterized in that the proportional speed regulating valve (3) adopts a one-way valve bridge structure. 5. The control method of an electro-hydraulic hybrid drive type manipulator control system according to any one of claims 1-4, characterized in that, when it is in the light-load fast lifting working condition, the four-position six-way electromagnetic switch The direction valve (14) is switched to the left position, the second position switch (15.2) contacts and closes, and the second position switch (15.2) controls the first two-position two-way electromagnetic switch valve (17.1) and the second two-position two-way electromagnetic switch The valve (17.2) switches the left position, the first two-position two-way electromagnetic reversing valve (19.1) and the second two-position two-way electromagnetic reversing valve (19.2) switch the upper position, the oil circuit of the hydraulic-electrical secondary component (16) The pressure oil port of the one-way variable vane pump (13) is directly connected to the oil circuit at both ends of the hydraulic cylinder, and the high-pressure oil flows in the four-position six-way electromagnetic reversing valve (14) to form a differential circuit. , the robotic arm lifts quickly under light load conditions. 6. The control method of an electro-hydraulic hybrid drive type manipulator control system according to any one of claims 1-4, characterized in that, when it is in a heavy load and stable lifting condition, the four-position six-way electromagnetic switch The direction valve (14) is switched to the left two position, the third two position two way electromagnetic switch valve (18) is connected, the first two position two way electromagnetic reversing valve (19.1) and the second two position two way electromagnetic reversing valve (19.2) is in the upper position, the one-way variable vane pump (13) is supplying oil on the low-pressure side, the first two-position two-way electromagnetic switch valve (17.1) and the second two-position two-way electromagnetic switch valve (17.2) are in the connected state, The hydraulic-electrical secondary component (16) is connected to the circuit and works in the "engine-hydraulic pump" mode to form a pump-controlled cylinder closed circuit. The high-pressure oil passes through the one-way speed control valve (4) and then opens two proportional speed controls The valve (3) and the two two-way hydraulic locks (2) push the hydraulic cylinder to rise steadily. At the same time, the high-pressure oil opens the second spring hydraulic control check valve (9.2), and the accumulator (11) releases the pressure oil to The low-pressure side is supplemented with oil. During the lifting process, the pressure sensor (22) outputs the system pressure signal, the resistive position sensor (21) outputs the height signal, the speed measuring instrument (20) outputs the speed signal, and the feedback electric signal is input into the frequency conversion through the controller The inverter, the frequency converter compensates the speed difference of the engine and improves the lifting stability. 7. The control method of a kind of electro-hydraulic hybrid drive type manipulator control system described in any one of claims 1-4, it is characterized in that, when in the working condition of gravity falling, the four-position six-way electromagnetic reversing valve ( 14) Switch to the right position. At this time, the first position switch (15.1) contacts and closes, and the third two-position two-way electromagnetic switch valve (18) is powered off to cut off the connection between the low-pressure side of the pipeline and the hydraulic oil source. One-way The variable vane pump (13) outputs high-pressure oil to open the back pressure check valve (12) to charge the accumulator (11), the first two-position two-way solenoid switch valve (17.1) and the second two-position two-way solenoid The switch valve (17.2) is in the connected state, the hydraulic-electrical secondary element (16) is connected to the circuit, and works in the "hydraulic motor-generator" mode. Under the action of gravity, the single-rod hydraulic cylinder (1) descends, and the high-pressure oil Drive the hydraulic motor to output torque. When the heavy load descends, if the landing height is greater than 2/3 of the cylinder stroke and the rotation speed is greater than the rated rotation speed of the generator, the generator coil coaxial with the motor rotates to generate electricity, which is the accumulator (11 ) charging to realize energy recovery.