USING PROPORTIONAL VALVE AND REDUCING VALVE IN THE PRECISE CONTROL OF GRIPPING FORCE ON THE REMOTE CONTROLLED EXPLOSIVE DISPOSAL MACHINE

Abstract

The remote controlled explosive disposal machine is designed and manufactured in Vietnam on the basis of research, design, and integration of equipments on the Komatsu PC130-6 base machine. One of the important operations of the machine is the bomb gripping. In this operation, the requirements of accuracy (about gripping force, contact speed), and safety are put in the first place. To perform the bomb gripping operation, the machine uses a gripping mechanism consisting of a gripper and an excavator bucket, driven by a hydraulic system including an LS-PC controlled pump and proportional electric valves and pressure reducing valves. The article focuses on building a complete dynamic model of the gripping mechanism drive system. On that basis, perform simulations and calculations to give the law of dynamic parameters during bomb gripping. The precise control of the bomb gripping force is fully evaluated, thereby the necessary recommendations are given for the design process as well as for controlling the operation of the bomb gripping mechanism.