低速大扭矩水液压马达的深海性能迁移特性  

Deep-sea Performance Migration Characteristics of Low-speed High-torque Water-hydraulic Motor

作　　者：许长坤 吴德发[1,2] 高恒 张鹤鸣[1,2] 米卓 刘银水[1,2] XU Changkun;WU Defa;GAO Heng;ZHANG Heming;MI Zhuo;LIU Yinshui(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan,Hubei 430074;State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan,Hubei 430074)

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074 [2]华中科技大学智能制造装备与技术全国重点实验室,湖北武汉430074

出　　处：《液压与气动》2024年第10期100-106,共7页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2022YFC2805501);国家自然科学基金优秀青年基金(52122502);中国科学院冷泉装置前期关键技术攻关项目(LQ-GJ-01)。

摘　　要：为实现深海水液压机械手回转关节的稳定输出,研制了一种新型阀配流低速大扭矩水液压马达。搭建了其数学及物理模型,完成了马达与机械手腕部关节的集成设计,通过马达的AMESim仿真模型分析了深海环境对马达输出性能的影响。研究发现:随着海深的增加,马达的输出扭矩显著降低,输出转速也出现一定变化,环境压力从0 MPa增加至120 MPa的过程中,马达的输出扭矩累计降低了34%,最大稳定转速却较陆上工况增加了13%。此研究为马达的结构优化与深海作业控制提供了理论依据。In order to ensure the stable operation of the rotary joint in the deep-sea hydraulic manipulator,a new type of valve-coupled,low-speed,high-torque water-hydraulic motor is developed.Mathematical and physical models for the motor are created,and an integrated design with the manipulator's wrist joint is completed.The effect of the deep sea environment on the output performance of the motor is analyzed using the AMESim simulation model.It is observed that as the sea depth increases,the motor's output torque decreases significantly,and the output speed also changes to some extent.The motor's output torque decreases by 34%with an increase in ambient pressure from 0 MPa to 120 MPa.However,the maximum stable speed increases by 13%compared to onshore working conditions.This study offers a theoretical foundation for optimizing the motor structure and controlling deep-sea operations.

关 键 词：阀配流式 水液压马达 AMESIM仿真 深海性能 

分 类 号：TH137[机械工程—机械制造及自动化]