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图1所示是某单位设计的机械手结构原理图,图2是控制手臂夹紧、松开缸的液压系统原理图(图2中的二位三通电磁换向阀是改进时加装的)。在调试过程中,曾多次发生因误操作或控制电源忽然停电而使机械手松开,造成在行走过程中重物落下的事故。我们通过分析研究,采取了相应措施,解决了上述问题。 (1)在夹紧缸液压系统中加装的二位三通电磁换向阀(见图2),因为不论在机械手处于夹紧状态或停电时,3DT都不得电,液控单向阀1的控制腔均与油箱相通,即液控单向阀1不会打开,机械手不会松开。 (2)将行走缸(图2中未画出行走缸及其液
Figure 1 shows a unit design of the manipulator structure diagram, Figure 2 is to control the arm clamping, release the hydraulic cylinder schematic diagram of the cylinder (Figure 2 in the three-way solenoid valve is modified to install) . In the process of debugging, there have been many accidents due to misoperation or sudden power outage caused by the power of the manipulator to release, resulting in heavy objects falling during the accident. Through analysis and research, we have taken corresponding measures to solve the above problems. (1) A two-position, three-way solenoid valve (see Fig. 2) installed in the hydraulic system of the clamping cylinder, as 3DT can not be operated either in the clamped state of the manipulator or in the event of a power outage. The pilot operated check valve 1 Of the control chamber are connected with the fuel tank, hydraulic check valve 1 will not open, the manipulator will not loosen. (2) will be walking cylinder (not shown in Figure 2 walking cylinder and its liquid