A study on properties of oil hydraulic multiple function cylinder

近年来，油压控制系统已广泛应用于矿山、土木、建筑等行业。在采矿和建筑工程中，机器人被要求提高劳动力节约、安全和生产。本研究的目的是设计与机器人零件相对应的液压多功能缸。将振动技术应用于具有多种功能的液压缸。实验装置是由两个单杆油缸、比例电磁阀和高速开关电磁阀组成的液压控制系统。首先，采用扩展最小二乘法对系统进行辨识。然后，在一定的恒载水平下，对电源压力、频率和偏置电压进行了实验。得到了振动幅值、进给速度、频率、最大推力和加速度等定量基本特性。此外，为了研究液压多功能缸的切削效果，将该系统的实验模型假设为一台实际液压挖掘机，并将多功能缸的振动与无振动的定量特性进行了比较。结果表明，液压多功能缸的工作效果与挖掘机的定量性能相对应。最后，利用液压多功能缸对液压铲进行了现场试验。验证了油压多功能缸的有效切削力与一个操作人员的铲相对应。

Recently, the oil hydraulic controlled system has been applied to the field of mining industry, civil engineering and construction industly. The robotized mechines have been required to improve labor-saving, safety and production in mining and construction works.The aim of this study is to design the oil hydraulic multiple function cylinder which corresponds to a part of the robotized machines.A vibration technique s employed to the oil hydraulic cylinder, which has multiple function. An apparatus of the experiment is an oil hydraulic controlled system with the two single-rod cylinders, proportional solenoid valve and high speed on-off solenoid valve.First, the system is identified by mean of an expanded least square method. Next, the experiment is made with variation of the supply pressure and the frequency and the bias voltage under some levels of the constant load. As a results, the quantitative fundamental properties, namely, the vibration amplitude, the feed speed, the frequency, the maximum pushing force and the acceleration, were obtained.Furtheremore, to investigate cutting effect of the oil hydraulic multiple function cylinder, the experimental model of the system was assumed as an actual hydraulic excavator, and the quantitative properties of the multiple function cylinder with vibration were compared with these of no-vibration cylinder. It was obtained that the effect of the oil hydraulic multiple function cylinder corresponds to the quantitative properties of the excavator.Final, the experiments of the oil hydraulic shovel with the oil hydraulic multiple function cylinder were carried out on the actual field. It was confirmed that oil hydraulic multiple function cylinder has the effective cutting force which corresponds to the shovel with a operator.