水下开挖机器人液压系统设计与应用  

Design and application of hydraulic system of underwater excavation robot

作　　者：王振 程雪聪 刘修成 董奇峰 Wang Zhen;Cheng Xuecong;Liu Xiucheng;Dong Qifeng

机构地区：[1]中交二航局第二工程有限公司,重庆400000 [2]中交第二航务工程局有限公司,武汉430040

出　　处：《起重运输机械》2023年第4期60-64,68,共6页Hoisting and Conveying Machinery

基　　金：2019年度交通运输行业重点科技项目(2019-MS1-008)。

摘　　要：水下开挖机器人是针对沉井施工作业所研发的特种工程机械,其液压驱动系统的设计至关重要。文中根据机器人各部分机构特点,采用理论计算和仿真分析的方法求解出各液压执行元件的受力特性;综合分析现有工程机械常用液压系统特点,针对水下开挖机器人各执行器作业要求,设计了负载敏感泵和比例多路阀结合的LUDV系统作为其液压系统;最后对机器人整机进行调试和应用。结果表明:水下开挖机器人液压系统在实际工作中表现稳定,满足工程应用要求。Underwater excavation robot is a special engineering machine developed for open caisson construction,and the design of its hydraulic drive system is very important.According to the mechanism characteristics of each part of the robot,the stress characteristics of each hydraulic actuator are solved by theoretical calculation and simulation.Based on the analysis of the characteristics of common hydraulic systems of existing construction machinery,and according to the operation requirements of each actuator of underwater excavation robot,a LUDV system combining load sensitive pump and proportional multi-way valve is proposed as its hydraulic system.Finally,the robot is debugged and applied.The results show that the hydraulic system of underwater excavation robot runs stably and can meet the engineering application requirements.

关 键 词：水下开挖机器人 液压驱动系统 仿真分析 LUDV系统 

分 类 号：TU69[建筑科学—建筑技术科学]