破拆机器人臂系液压系统能量回收仿真研究

破拆机器人主要采用单泵多执行器负载敏感液压系统,可实现泵输出压力和输出流量与负载的实时匹配,有效提高系统效率,但在做负载及负载差距较大的复合动作时仍有较大能量损耗。为此,提出一种基于变排量调节技术的新型能量回收利用方案,实现在机械臂下降时重力势能的回收和复合动作时压力补偿阀能耗的回收,并在机械臂上升时将回收的能量作为辅助能源加以利用。应用Virtual.Lab Motion和AMESim建立了破拆机器人机电液系统联合仿真模型。仿真结果表明:在不同工况下,该方案的节能效率可达30%～67.6%,且能有效提高机械臂下降时的稳定性。

Energy Recovery Simulation Research of Demolition Robot Arms Hydraulic System

The single pump multi actuator load sensitive hydraulic system is mainly used as the hydraulic system of the demolition robot, which can realize the real time matching of pump output pressure and output flow with the load, effectively improve the system efficiency. However, there is still a large energy loss in the complex action when the load and load gap is large. For this reason, a new energy recovery and utilization scheme based on variable displacement regulation technology was proposed to realize the gravitational potential energy recovery when the manipulator was descending and the energy consumption recovery of the pressure compensation valve when the manipulator was in composite action, and the recovered energy was used as auxiliary energy when the manipulator was rising. Virtual.Lab Motion and AMESim were used to establish the joint simulation model of the electro hydraulic system of the demolition robot.The simulation results show that the energy saving efficiency of the scheme can reach 30%~67.6% under different working conditions, and the stability of the manipulators can be improved effectively during descent.