足式机器人轻量化液压油源匹配设计方法研究

doi:10.3901/JME.2021.24.058

机械工程学报 ›› 2021, Vol. 57 ›› Issue (24): 58-65.doi: 10.3901/JME.2021.24.058

• 特邀专栏：液压元件及系统轻量化关键技术 • 上一篇下一篇

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足式机器人轻量化液压油源匹配设计方法研究

俞滨¹, 李化顺¹, 巴凯先¹, 郑博寒¹, 李景彬¹, 袁立鹏²

1. 燕山大学机械工程学院秦皇岛 066004;
2. 哈尔滨工业大学机电工程学院哈尔滨 150008

收稿日期:2021-06-07 修回日期:2021-09-27 出版日期:2021-12-20 发布日期:2022-02-28
通讯作者: 巴凯先(通信作者),男,1989年出生,博士,副教授,硕士研究生导师。主要研究方向为足式机器人液压控制。E-mail:bkx@ysu.edu.cn
作者简介:俞滨,男,1985年出生,博士,副教授,博士研究生导师。主要研究方向为足式机器人液压驱动。E-mail:yb@ysu.edu.cn
基金资助:
国家重点研发计划（2018YFB2000701）、国家自然科学基金优秀青年科学基金（52122503）和国家自然科学基金（51975506）资助项目。

Research on Matching Design Methods of Lightweight Hydraulic Oil Source for Legged Robot

YU Bin¹, LI Huashun¹, BA Kaixian¹, ZHENG Bohan¹, LI Jingbin¹, YUAN Lipeng²

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150008

Received:2021-06-07 Revised:2021-09-27 Online:2021-12-20 Published:2022-02-28

摘要/Abstract

摘要： 液压油源是足式机器人液压驱动系统的核心供能元件，将电能产生的机械能转化为油液的压力能，为驱动机器人各关节运动提供动力源。液压油源质量一般占据足式机器人整机质量超过20%，实现油源的轻量化，将有助于提升足式机器人的续航能力、机动性和承载能力。传统液压油源设计过程中更关注性能，在轻量化匹配设计方面还有待进一步完善。首先进行足式机器人轻量化液压油源的原理设计；其次将液压油源以功能为依据进行模块划分，分析液压油源各模块质量影响参数；针对质量与体积占比较大的电机泵进行匹配研究，针对蓄能器模块进行参数轻量化分析；针对集成阀块的轻量化设计，研究流道构建与元件排布原则；成功研发一种轻量化液压油源样机；最终形成了一种足式机器人轻量化液压油源匹配设计方法，有助于实现足式机器人液压驱动系统的轻量化。

关键词: 液压油源, 轻量化, 足式机器人, 匹配设计

Abstract: Hydraulic oil source is the core energy supply element of hydraulic drive system of legged robot, which transforms the mechanical energy generated by electric energy into the pressure energy of oil, and provides power source for driving the motion of each joint of robot. The weight of hydraulic oil source generally accounts for more than 20% of the overall weight of the legged robot. The lightweight of the oil source will help improve the endurance, maneuverability and carrying capacity of the legged robot. Traditional hydraulic oil source design pays more attention to performance, and the lightweight matching design needs to be further improved. In this paper, the principle of lightweight hydraulic oil source of legged robot is designed firstly. Secondly, the hydraulic oil source is divided into modules based on functions, and the influencing parameters of each module of hydraulic oil source are analyzed. The matching research is carried out for the motor and pump with large mass and volume, and the parameter lightweight analysis is carried out for the accumulator module. For the lightweight design of integrated valve block, the principles of flow passage construction and component arrangement are studied. Successfully developed a lightweight hydraulic oil source prototype; Finally, a matching design method of hydraulic oil source for lightweight legged robot is developed, which is helpful to realize the lightweight of hydraulic drive system of legged robot.

Key words: hydraulic oil source, lightweight, legged robot, matching design

中图分类号:

TH137

俞滨, 李化顺, 巴凯先, 郑博寒, 李景彬, 袁立鹏. 足式机器人轻量化液压油源匹配设计方法研究[J]. 机械工程学报, 2021, 57(24): 58-65.

YU Bin, LI Huashun, BA Kaixian, ZHENG Bohan, LI Jingbin, YUAN Lipeng. Research on Matching Design Methods of Lightweight Hydraulic Oil Source for Legged Robot[J]. Journal of Mechanical Engineering, 2021, 57(24): 58-65.

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足式机器人轻量化液压油源匹配设计方法研究

Research on Matching Design Methods of Lightweight Hydraulic Oil Source for Legged Robot

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