破拆机器人臂系液压系统能量回收仿真研究  

Energy Recovery Simulation Research of Demolition Robot Arms Hydraulic System

作　　者：柴鹏 岑豫皖[1,2] 叶小华 黄建中[1] 王丽华[1] CHAI Peng;CEN Yuwan;YE Xiaohua;HUANG Jianzhong;WANG Lihua(College of Mechanical Engineering, Anhui University of Technology, Maanshan Anhui 243002,China;National Machine Quality Supervision and Inspection Center(Anhui),Maanshan Anhui 243002,China)

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：《机床与液压》2020年第15期1-6,共6页Machine Tool & Hydraulics

基　　金：国家科技支撑计划项目(2015BAK06B02);安徽省高校自然科学基金重点项目(KJ2017A049,KJ2016A812)。

摘　　要：破拆机器人主要采用单泵多执行器负载敏感液压系统,可实现泵输出压力和输出流量与负载的实时匹配,有效提高系统效率,但在做负载及负载差距较大的复合动作时仍有较大能量损耗。为此,提出一种基于变排量调节技术的新型能量回收利用方案,实现在机械臂下降时重力势能的回收和复合动作时压力补偿阀能耗的回收,并在机械臂上升时将回收的能量作为辅助能源加以利用。应用Virtual.Lab Motion和AMESim建立了破拆机器人机电液系统联合仿真模型。仿真结果表明:在不同工况下,该方案的节能效率可达30%~67.6%,且能有效提高机械臂下降时的稳定性。The single pump multi-actuator load sensitive hydraulic system is mainly used as the hydraulic system of the demolition robot,which can realize the real-time matching of pump output pressure and output flow with the load,effectively improve the system efficiency.However,there is still a large energy loss in the complex action when the load and load gap is large.For this reason,a new energy recovery and utilization scheme based on variable displacement regulation technology was proposed to realize the gravitational potential energy recovery when the manipulator was descending and the energy consumption recovery of the pressure compensation valve when the manipulator was in composite action,and the recovered energy was used as auxiliary energy when the manipulator was rising.Virtual.Lab Motion and AMESim were used to establish the joint simulation model of the electro-hydraulic system of the demolition robot.The simulation results show that the energy saving efficiency of the scheme can reach 30%~67.6%under different working conditions,and the stability of the manipulators can be improved effectively during descent.

关 键 词：破拆机器人 液压系统 能量回收 联合仿真 

分 类 号：TH137[机械工程—机械制造及自动化]