水下機器人液壓驅動技術研究

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中圖分類號：TP242 文獻標志碼：A 文章編號：1003-5168(2025)11-0008-04

DOI:10.19968/j.cnki.hnkj.1003-5168.2025.11.002

Research on Hydraulic Drive Technology ofUnderwater Robot

WEI Rongwei (Zhonghai Huigu Geoscience Service (Shenzhen) Co.,Ltd., Shenzhen 5183Oo, China)

Abstract:[Purposes] This study aims to analyze the working principle,control technology and performance test of the hydraulic drive system of underwater robots,and improve the operational efficiency and reliability of underwater robots in complex environments.[Methods] The eficiency and reliability of the hydraulic drive system have been verified through tests such as static performance,dynamic response, load adaptability,and environmental adaptability.[Findings] The flow rates for static performance tests reached 18 L/min and 22 L/min,respectively.In the dynamic response test, the displacement error is controlled within ±0.9 mm,and the speed stabilization time is O.4 s.During the load test,the maximum thrust reached 15 kN,and the pressure fluctuation range was only ± 0.4 MPa.Under high-load conditions,the overall efficiency of the system reaches 87.5% ,and the temperature change of hydraulic oil is controlled within $\pm \ 4 . 5 \ ^ { \circ } ( \$ C. In a high-pressure environment with a water depth of 1 OOO m(10 MPa), the system has good sealing and stable operation.During the low-temperature test,the fluidity of the hydraulic oil flow is normal within the range of 5～10°( ,and there is no significant delay in the system response.[Conclusions] The hydraulic drive system has stable performance under complex underwater conditions, meets practical application requirements,and provides theoretical basis and practical support for the further development of underwater robot drive technology.

Keywords: underwater robot; hydraulic drive system; control technology; performance test

0 引言

水下機器人作為海洋勘探、深海探測、資源開采等領域的重要工具，其在復雜水下環(huán)境中的應用對技術要求極高。（剩余5940字）