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机械手的冲击力与运动惯量,工作速度成正比,与冲击力作用的时间成反比。由此可见,机械手在高速运动的情况下,冲击力很大。如果缓冲效果不好的话,它能将机械手向反方向推移而定位不准。为此,我们在设计YJS-35程序控制通用机械手的过程中,采用了四种不同形式的定位缓冲方法。现介绍其中一种能切断油路的双向缓冲阀,其手臂伸缩运动的最大速度为1.2米/秒,缓冲行程40mm,平均减速度为28米/秒。机械手仲缩运动由油缸1、导向杆2,定位拉
The impact of the manipulator and the moment of inertia, working speed is proportional to the time and the impact of the inversely proportional. This shows that the robot in the case of high-speed movement, great impact. If the buffering effect is not good, it can move the manipulator in the opposite direction without positioning. For this reason, we used four different forms of positioning buffer in the design of YJS-35 program-controlled universal manipulator. We now introduce one of the two-way valve to cut off the oil valve, the maximum speed of its arm telescopic movement of 1.2 m / s, the buffer stroke 40mm, the average deceleration of 28 m / s. Mechanical hand movement contracting by the cylinder 1, guide rod 2, positioning pull