力士乐螺纹插装阀R901091175 OD1532361AS000

力士乐螺纹插装阀R901091175 OD1532361AS000，德国REXROTH螺纹插装阀电磁阀，力士乐螺纹插装阀电磁阀，武汉百士自动化设备有限公司主营销售产品，原厂原装，拒绝假货，客户买的安心，用的放心。价格优惠，常用产品现货供应，欢迎新老客户询价采购！

装载机液压行走传动系统和操纵系统

1.液压行走传动

系统基本组成

装载机液压行走传动系统。液压行走传动系统由液压泵、液压马达、分动箱和前后驱动桥等组成。

2.液压行走装载

机操纵系统

液压行走装载机操纵系统。它由以下操纵杆和操纵踏板组成:

(1)方向电操纵杆,操纵装载机前进和后退。带锁住装置,能将操纵杆固定在所操纵的位置。操纵时手可以不离开方向盘，用手指操纵。为防止意外走动，方向电操纵杆不在中位，发动机就不能起动。

(2)油门踏板，操纵它就能起步、加速、减速和停车，全车速范围自动变速，操纵简单方便,初学者很容易掌握驾驶。

(3)左右制动踏板，右制动踏板和微动阀连动，操纵此踏板，通过微动阀，改变变量泵先导控制油压，使变量泵排量降低，实现机械微动，使铲装作业时工作装置功率和行走驱动功率匹配良好。

(4)运转模式切换机构。通过它可控制油门开度的大位置。有二种运转模式:通常和柔和，分别有相应不同的油门大开度限位。一般情况采用通常运转模式。夜间作业或市内作业等，要求低噪声场合采用柔和运转模式。该模式大牵引力降低2%左右，对通常装载作业能满足要求。

(5)采用脚踏式停车制动，操纵简单,轻轻踩-下停车制动踏板就能制动。解除停车制动,只须拉一下停车制动解除操纵杆。当停车制动器起作用时，方向电操纵杆即使在前进或后退位置,机械也不会行走

力士乐螺纹插装阀R901091175 OD1532361AS000

德国力士乐REXROTH螺纹插装阀订货号和型号：

 

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执行机构

 

机械手的执行机构分为手部、手臂、躯干；

 

1、手部

 

手部安装在手臂的前端。手臂的内孔中装有传动轴，可把运用传给手腕，以转动、伸曲手腕、开闭手指。

 

机械手手部的构造系模仿人的手指，分为无关节、固定关节和自由关节3种。手指的数量又可分为二指、三指、四指等，其中以二指用的多。可根据夹持对象的形状和大小配备多种形状和大小的夹头以适应操作的需要。所谓没有手指的手部，一般都是指真空吸盘或磁性吸盘。

 

2、手臂

 

手臂的作用是引导手指准确地抓住工件，并运送到所需的位置上。为了使机械手能够正确地工作，手臂的3个自由度都要较好地定位。

 

3、躯干躯干是安装手臂、动力源和各种执行机构的支架 [1]  。

 

驱动机构

 

机械手所用的驱动机构主要有4种：液压驱动、气压驱动、电气驱动和机械驱动。

 

1、液压驱动式

 

液压驱动式机械手通常由液动机（各种油缸、油马达）、伺服阀、油泵、油箱等组成驱动系统，由驱动机械手执行机构进行工作。通常它的具有很大的抓举能力（高达几百千克以上），其特点是结构紧凑、动作平稳、耐冲击、耐震动、防爆性好，但液压元件要求有较高的制造精度和密封性能，否则漏油将污染环境。

 

2、气压驱动式

 

其驱动系统通常由气缸、气阀、气罐和空压机组成，其特点是气源方便、动作迅速、结构简单、造价较低、维修方便。但难以进行速度控制，气压不可太高，故抓举能力较低。

 

3、电气驱动式电力驱动是机械手使用得多的一种驱动方式。其特点是电源方便，响应快，驱动力较大（关节型的持重已达400kg），信号检测、传动、处理方便，并可采用多种灵活的控制方案。驱动电机一般采用步进电机，直流伺服电机（AC）为主要的驱动方式。由于电机速度高，通常须采用减速机构（如谐波传动、RV摆线针轮传动、齿轮传动、螺旋传动和多杆机构等）。有些机械手已开始采用无减速机构的大转矩、低转速电机进行直接驱动（DD）这既可使机构简化，又可提高控制精度。

 

4、机械驱动式

 

机械驱动只用于动作固定的场合。一般用凸轮连杆机构来实现规定的动作。其特点是动作确实可靠，工作速度高，成本低，但不易于调整。其他还有采用混合驱动，即液-气或电-液混合驱动。

 

控制系统

 

机械手控制的要素包括工作顺序、到达位置、动作时间、运动速度、加减速度等。机械手的控制分为点位控制和连续轨迹控制两种。

 

控制系统可根据动作的要求，设计采用数字顺序控制。它首先要编制程序加以存储，然后再根据规定的程序，控制机械手进行工作程序的存储方式有分离存储和集中存储两种。分离存储是将各种控制因素的信息分别存储于两种以上的存储装置中，如顺序信息存储于插销板、凸轮转鼓、穿孔带内；位置信息存储于时间继电器、定速回转鼓等；集中存储是将各种控制因素的信息全部存储于一种存储装置内，如磁带、磁鼓等。这种方式使用于顺序、位置、时间、速度等必须同时控制的场合，即连续控制的情况下使用。

 

其中插销板使用于需要迅速改变程序的场合。换一种程序只需抽换一种插销板限可，而同一插件又可以反复使用；穿孔带容纳的程序长度可不受限制，但如果发生错误时就要全部更换；穿孔卡的信息容量有限，但便于更换、保存，可重复使用；磁蕊和磁鼓仅适用于存储容量较大的场合。至于选择哪一种控制元件，则根据动作的复杂程序和较好程序来确定。对动作复杂的机械手，采用求教再现型控制系统。更复杂的机械手采用数字控制系统、小型计算机或微处理机控制的系统。控制系统以插销板用的多，其次是凸轮转鼓。它装有许多凸轮，每一个凸轮分配给一个运动轴，转鼓运动一周便完成一个循环。

 

 

 

机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按适用范围可分为专项使用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制和连续轨迹控制机械手等。机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换****等，一般没有单独的控制装置。有些操作装置需要由人直接操纵，机械手在锻造工业中的应用能进一步发展锻造设备的生产能力，改善热、累等劳动条件。

 

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