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装载机液压行走系统

HST装载机是全液压驱动机械，行走和工作装置可实现综合控制。目前，新开发的小型装载机几乎已高标准采用HST,并有向大型装载机发展的趋势。与传统的液力机械装载机相比，具有很大的优势。

 

TM和HST分析比较

1.装载机作业特点:

(1)边行走边作业，移动中进行作业，行走装置和工作装置同时动作;

(2)循环作业，频繁地起步、前进、后退，不断地加减速;

(3)掘削时低速大驱动力，转移时在路上需高速行驶，所需驱动力和速度变化范围广。

2. TM的缺点:

T/M是变矩器加动力换档变速箱，基本上适应装载机作业特点。因此在装载机上广泛采用。但存在以下不足:

(1)作业时经常在低速大驱动力下工作，此时变矩器效率较低，油耗大;

(2)切入铲土时，发动机负荷大转速降低，不能充分利用发动机功率，作业效率低;

作业装置和行走装置同时工作时，很难使发动机控制在大功率点工作，主要是行走变矩器输出功率难控制调节，过去曾采用滑差式离合器来进行功率调节，但功率损失大。

(3)变矩器变速范围小，因此必须采用动力换档变速箱，作业时需频繁换档(每小时高达1000次)司机劳动强度大,现采用电操纵和微机控制自动换档，价格较贵。

HST的优点:

(1)液压传动元件位置单独，布置方便。其优点是:

1)发动机布置在车辆后部可代替平衡重。在确保稳定性前提下，可降低车重，与相同等级TM车相比，重量降低约10%以上。

2) HST液压部件单独布置，装载机中部没有大部件，空地大，可设计选取合适的轴距和大的折腰角度，轴距减小，使转向半径减小。

3) HST动力传动装置系统，布置位置可放低，使整机重心位置降低,提高稳定性。

4)发动机布置在后部，维修保养方便。

(2) HST在全车速范围内可实现无级变速。其发动机功率利用率好。HST传动综合效率比T/M传动高，油耗较低。

(3) HST行走只需操纵油门踏板就能自动变速，从大牵引力至高车速范围内平稳地行走而不需换档。前进后退换向只需操纵手柄(或按钮)。如果将换向手柄(或按钮)设置在方向盘上，那么整个行走过程,手可以不离开方向盘，操纵轻便容易，好像驾驶自动换档小汽车,对不熟练的司机很适合。

(4)行走微动性能好。卸载靠近卡车需要微动性能。HST车可通过微动踏板，改变变量泵斜盘倾角，使车速平稳连续变化。

(5) HST具有制动效果，能防止在坡度上下滑，料场上作业容易。因此HST车在坡道上行驶，操纵很简单，下坡时放油门踏板，上坡时踩油门踏板。另外，行驶时制动器使用频率大大减少，可延长制动器使用寿命，同时行车安全性提高。

(6)掘起力和行走驱动力匹配好。装载机在铲装过程要求行走驱动力和掘起力配合，就如同人工挖土时手和脚的配合。行走驱动力要求能克服阻力插入料堆。当铲斗碰上大石块或切入土砂过深，装载机不能前进，这时希望轮胎不要相对地面滑转，使轮胎过早磨损。

掘削取土时，工作油缸作用力应能克服作用在斗尖上的垂直力(铲起力)和水平阻力(行走插入力)。轮胎驱动力过大，工作油缸不能使铲斗掘起，则无法取土。应使行走驱动力和工作油缸力保持恰当关系，需检出工作油缸负荷压;力来控制HST的油路大压力(安全阀压力)。铲装时，工作油缸压力高了，HST油路压力应降低，反之工作油缸压力低了，HST 油路压力要高，以保证铲斗充分切入土砂。HST是全油压驱动机械,行走驱动和工作装置可实现综合控制，使掘起力和行走驱动力合理匹配。TM装载机行走驱动功率难调节，工作装置和行走驱动功率无法合理分配实现综合控制。

力士乐电磁阀R934001072 OD1511173AS000

德国力士乐REXROTH电磁阀订货号和型号：

 

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液压挖掘机一般由工作装置、上部车体和下部车体三大部分组成。据其构造和用途可以区分为：履带式、轮胎式、步履式、全液压、半液压、全回转、非全回转、通用型、专项使用型、铰接式、伸缩臂式等多种类型。

 

工作装置是直接完成挖掘任务的装置。它由动臂、斗杆、铲斗等三部分铰接而成。为了适应各种不同施工作业的需要，液压挖掘机可以配装多种工作装置，如挖掘、起重、装载、平整、夹钳、推土，旋挖钻等多种作业机具。

 

回转与行走装置是液压挖掘机的机体，转台上部设有动力装置和传动系统。发动机是液压挖掘机的动力源，大多采用柴油要在方便的场地， 也可改用电动机。

 

液压传动系统通过液压泵将发动机的动力传递给液压马达、液压缸等执行元件，推动工作装置动作，从而完成各种作业。

 

 

 

机械手是一种能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。特点是可以通过编程来完成各种预期的作业，构造和性能上兼有人和机械手机器各自的优点。

 

机械手是早出现的工业机器人，也是早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工等部门。

 

 

 

机械手主要由执行机构、驱动机构和控制系统三大部分组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等单独运动方式，称为机械手的自由度。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机械手设计的关键参数。自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专项使用机械手有2～3个自由度。控制系统是通过对机械手每个自由度的电机的控制，来完成特定动作。同时接收传感器反馈的信息，形成稳定的闭环控制。控制系统的核心通常是由单片机或dsp等微控制芯片构成，通过对其编程实现所要功能。

 

德国力士乐REXROTH螺纹插装阀电磁阀订货号和型号：

 

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