仿莲式结构多腔液压缸的设计及仿真分析  

Design and simulation analysis of multi-chamber hydraulic cylinder imitating lotus structure

作　　者：涂福泉[1] 石理 汪曙峰 苏子豪 Tu Fuquan;Shi Li;Wang Shufeng;Su Zihao(Key Laboratory of Metallurgical Equipment and Control of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;WISDRI Wuhan Iron and Steel Design&Research Institute Incorporation Limited,Wuhan 430080,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]中冶南方武汉钢铁设计研究院有限公司,湖北武汉430080

出　　处：《武汉科技大学学报》2022年第6期446-454,共9页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金面上项目(51975425)。

摘　　要：为了提高多足机器人驱动用单泵多缸液压系统中执行器的效率,在对莲的生理活动进行观察的基础上,设计了一种仿莲式结构多腔液压缸。该缸采用多个腔室,各腔室间可通过开关阀相互连通,使得液压缸的有效作用面积可调,从而提供不同大小的输出力。同时,通过优化设计使不同腔体的负载压力均匀分布,减少了主活塞偏离缸体中心线导致的泄漏及磨损,又通过回油腔和供油腔相连实现了流量补偿。本文还建立了仿莲式多腔液压缸的数学模型,并利用MATLAB和FluidSIM对其输出力和执行器效率进行仿真分析,验证了该设计的合理性。In order to improve the efficiency of actuators in the single-pump multi-cylinder hydraulic system for driving multi-legged robots, a multi-chamber hydraulic cylinder imitating lotus structure is designed based on the observation of physiological activities of lotus. This hydraulic cylinder has several chambers that can be connected to each other through switching valves, which makes its effective action area and output force adjustable. At the same time, the load pressure of each chamber is evenly distributed via design optimization, which reduces the leakage and wear caused by the main piston deviating from the center line of the cylinder block, and the flow compensation is realized by connecting oil return chamber with oil supply chamber. The mathematical model of the designed multi-chamber hydraulic cylinder is established, and the output force and actuator efficiency are also simulated by MATLAB and FluidSIM to verify the rationality of the design.

关 键 词：多足机器人 液压缸 多腔室 莲式结构 仿生设计 输出力 执行器效率 

分 类 号：TH137.51[机械工程—机械制造及自动化]