履带式水仓清挖机器人液压系统分析  

Research on Hydraulic System of Crawler-Type Sump Cleaning Robot

作　　者：段祯 高贵军 张珂 王彦 杜靖永 DUAN Zhen;GAO Guijun;ZHANG Ke;WANG Yan;DU Jingyong(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan Shanxi 030024,China;National and Local Joint Engineering Laboratory for Mine Fluid Control,Taiyuan Shanxi 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024 [2]矿山流体控制国家地方联合工程实验室,山西太原030024

出　　处：《机床与液压》2023年第15期1-8,共8页Machine Tool & Hydraulics

基　　金：重点国别科技合作项目(202104041101005)。

摘　　要：针对当前机械清挖存在的功能单一、体积庞大、自动化程度低、操作人多的缺点,设计一种水仓清挖机器人,并对其行走单元的液压系统进行仿真分析。仿真分析平地直行、转向、爬坡等工况下的动态特性,结果表明清仓机器人的行走单元能够按照工况要求完成指定动作,行驶过程中不受外界阻力变化影响,同时各个执行器能够独立工作互不干扰,体现了良好的抗流量饱和能力。此外,还模拟了负载敏感系统和定量泵节流调速系统的节能效率,结果表明负载敏感系统的效率更高,节省的能量更多。Aiming at the shortcomings of current mechanical excavation such as single function,huge volume,low degree of automation,and taking many operators,a crawler-type sump cleaning robot was designed,and the hydraulic system of its walking unit was simulated and analyzed.The dynamic characteristics under working conditions such as straight running on the flat ground,steering,and climbing were simulated and analyzed.The results show that the walking unit of the sump cleaning robot can complete the specified actions according to the requirements of the working conditions,and it is not affected by the change of external resistance during the driving process.At the same time,each actuator can work independently without interference each other,which reflects a good ability to resist flow saturation.In addition,the energy-saving efficiency of the load-sensing system and the throttling speed-regulating system with constant pump were simulated.The results show that the load-sensing system is more efficient and energy-saving.

关 键 词：水仓清挖机器人 负载敏感系统 履带行走机构 节能 

分 类 号：TH137[机械工程—机械制造及自动化]