破拆机器人负载敏感系统多臂复合动作能量回收研究  

Multi-arm Compound Action Energy Recovery of Load Sensitive System for Demolition Robot

作　　者：秦国栋 岑豫皖[1,2] 叶小华 黄建中[1] QIN Guo-dong;CEN Yu-wan;YE Xiao-hua;HUANG Jian-zhong(College of Mechanical Engineering,Anhui University of Technology,Maanshan,Anhui 243002;National Machine Quality Supervision and Inspection Center(Anhui),Maanshan,Anhui 243002)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243002 [2]国家机床产品质量监督检验中心(安徽),安徽马鞍山243002

出　　处：《液压与气动》2018年第10期59-64,共6页Chinese Hydraulics & Pneumatics

基　　金：国家科技支撑计划(2015BAK06B02-2);安徽高校自然科学研究重点项目(KJ2015A086;KJ2017A058)

摘　　要：破拆机器人臂系负载敏感系统具有功率自适应节能降耗、结构紧凑等特点,应用十分广泛。然而负载敏感系统中负载敏感泵流量压力仅与系统最大负载相适应,导致多臂复合动作时小负载回路上压力补偿阀能量损失较大。为进一步降低能耗,利用液压马达回收小负载回路压力补偿阀的能量损失,并带动液压泵将回收能量储存在蓄能器中,蓄能器回收能量通过扭矩耦合的方式回馈至主泵实现能量回收。通过AMESim建模仿真结果表明,增加能量回收系统可使复合动作能量回收利用率提升20%以上,系统阶跃响应与未安装能量回收的系统响应基本一致,且速度振荡减小改善了瞬态响应。Load-sensing system of demolition robot s arm system has characteristics of self-adaptive energy saving and compact structure.It is widely used in engineering equipments.The flow pressure of load-sensing pump only adapts to the maximum load of the system.When multi-arm composite action occurs,energy loss of pressure compensation valve on small load circuit is relatively large.In order to reduce energy consumption,we use a hydraulic motor to recover the energy loss of pressure compensation valve.And the pump is driven to store the recovered energy in accumulator.The energy is fed back to the main pump by torque coupling to achieve energy recovery.The simulation results of the AMESim model show that the system can increase recovery rate of energy by more than 20%;the step response of the system is basically the same as that of system without energy recovery,and the decrease of speed oscillation improves transient response.

关 键 词：负载敏感 复合动作 AMESIM 能量回收 

分 类 号：TH137[机械工程—机械制造及自动化]