Figure 4
From: Control methodology of synchronous lifting for the dual forging manipulator at clamping condition
Hydraulic schematic diagram of suspension system of manipulators A and B (1. relief valve; 2. high frequency proportional directional valve; 3. electromagnetic ball valve 1; 4. two-position three-way solenoid directional valve; 5. overflow valve; 6. three-position four-way solenoid directional valve; 7. one-way throttle valve; 8. accumulator; 9. cushion cylinder; 10. check valve; 11. expansion joints; 12. electromagnetic ball valve 2; 13. stop valve; 14. lifting cylinder).
