• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (20): 180-188.doi: 10.3901/JME.2018.20.180

• 机器人 • 上一篇    下一篇

摆盘式液压关节的结构设计与节能控制

杨军宏, 冯勇, 尚建忠, 罗自荣, 王卓, 吴国恒   

  1. 国防科技大学智能科学学院 长沙 410073
  • 收稿日期:2017-06-30 修回日期:2017-10-20 出版日期:2018-10-20 发布日期:2018-10-20
  • 通讯作者: 尚建忠(通信作者),男,1966年出生,博士,教授,博士研究生导师。主要研究方向为智能机械与数字化设计、液压传动与控制。E-mail:jz_shang_nudt@163.com
  • 作者简介:杨军宏,男,1977年出生,博士,副教授。主要研究方向为机器人高功率和高效率动力与驱动系统E-mail:yangjunhong@nudt.edu.cn;冯勇,男,1993年出生,硕士研究生。主要研究方向为高效率驱动系统。E-mail:15575940858@163.com
  • 基金资助:
    国家自然科学基金资助项目(51675522)。

Structural Design and Energy Saving Control of Wobble Hydraulic Joint

YANG Junhong, FENG Yong, SHANG Jianzhong, LUO Zirong, WANG Zhuo, WU Guoheng   

  1. School of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073
  • Received:2017-06-30 Revised:2017-10-20 Online:2018-10-20 Published:2018-10-20

摘要: 为提高液压驱动移动机器人的能量利用效率,研制出一种摆盘式液压关节。该关节输出转矩大,结构紧凑,体积小,易于加工,可连续回转。摆盘式液压关节内部具有多个液压缸,通过开关阀控制不同液压缸的不同腔体与高压油路连接,使关节在负载压力与泵的输出压力相等的情况下,实现关节的输出力矩与负载力矩相匹配,同时降低单泵源多执行器系统中控制阀阀口前后压差导致的大量节流损失,提高了液压系统的能量利用效率。详细介绍了该液压关节的机械结构和基本原理,对摆盘式液压关节进行了运动学和动力学的理论分析,设计了液压关节的负载匹配控制器,并进行了仿真试验与分析,分析结果表明:摆盘式液压关节能够在实现输出力矩与负载力矩相匹配的同时,保证较好的位置跟踪误差,并较大幅度地降低液压关节的能量损失。

关键词: 摆盘, 负载匹配, 位置跟踪, 效率, 液压关节

Abstract: To improve the efficiency of hydraulic drive mobile robot, a wobble plate hydraulic joint is proposed. The output torque of the joint characterized by simple structure and easy processing is large and can be rotated continuously. The joint has a plurality of hydraulic cylinders, whose chambers can be connected with the high-pressure oil circuit by controlling switching valves, so that the output torque of the joint can be matched with the load torque in the case where the load pressure of the joint is equal to the output pressure of pump. Therefore, this joint can reduce energy consumption by reducing throttling losses. The mechanical structure and principle of this joint are introduced in detail, and the load matching controller is designed, based on theoretical analysis of kinematics and dynamics. On the basis of this, the simulation experiment and analysis are carried out. Results show that the wobble-type hydraulic joint enables the output torque to match the load torque and ensure accurate location tracking, which is available to improve, which reduce energy consumption effectively.

Key words: efficiency, hydraulic joint, load matching, position tracking, wobble plate

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