电液伺服缸导向套静压支承结构特性分析

Analysis of Hydrostatic Bearing Structure Characteristics of Guide Sleeve of Electro-hydraulic Servo Cylinder

液压四足机器人作为典型的仿生足式步行机器人,因其具有高机动性、强负载能力和运动平稳等特点而备受人们的关注。电液伺服缸作为其动力执行元件,要求具有低摩擦、良好的抗侧向负载能力和高速运动的特性。以静压支承结构液压缸导向套为研究对象,利用FLUENT软件对静压支承导向套的矩形和工字形油腔的油膜特性进行分析对比,分析了活塞杆移动速度、偏心量与油膜承载能力、摩擦力、泄漏量之间的关系以及进油流量与油膜承载能力、摩擦力和进口压力与泄漏量之间的关系,为优化静压支承结构参数提供了理论依据。

As a typical bionic foot walking robot,hydraulic quadruped robot has attracted much attention due to its high mobility,strong load capacity and smooth motion.The electro-hydraulic servo cylinder,as its power actuating element,requires low friction,good resistance to lateral load and high speed motion.The research object of this paper is the hydrostatic sealing hydraulic cylinder guide sleeve.The oil film characteristics of the rectangular oil cavity and the I-shaped oil cavity of the hydrostatic bearing guide sleeve are analyzed and compared with the FLUENT software.The relationship between piston rod movement speed and eccentricity and oil film bearing capacity,friction and leakage is analyzed.The relationship between inlet flow rate and oil film bearing capacity,friction force and inlet pressure and leakage volume is analyzed.It provides a theoretical basis for optimizing the static pressure bearing seal parameters.