| Shotcrete machine refers to the special equipment integrated of concrete pump, highpress air, accelerating pump and high press water pump, mainly used for mining alley,traffic tunnel, water and electricitical culverts which belong to underground supportingengineering. The current domestic shotcrete manipulator exists many deficiency comparedwith imported product. And the home market is completely held by imported product.However, the high price of imported product, the long cycle of accessories and thedifficult maintenance constrains the successful process of the project seriously. Therefore,it has the very vital significance to carry out the research and development of Shotcretemachine.This research aims at solving the problems of the injection arm of Shotcrete machinein the two-dimensional design and hydraulic system from the actual application. This textmainly does virtual prototype analysis about the injection arm and the simulation andexperiment research on hydraulic system whose purpose is mainly for the optimal designof Shotcrete machine. Base on the above objectives, first of all, this text combines theoperating conditions of the concrete spraying and construction characteristics whosepurpose is mainly for the stability and reliability of vehicle, and then it mainly introducesthe whole structure of the layout for shotcrete manipulator. Taking the achieving functionof shotcrete manipulator as the starting point, this text designs the hydraulic drive system,spraying arm hydraulic system and other hydraulic system. And it mainly focuses on theselection and principle analysis of key hydraulic components.Then, this paper uses MATLAB software to calculate the positive and inversesolutions, working space and Jacobin matrix. Based on the above mathematics analysis,this paper finally puts forward some intelligent control strategy of concrete spraying.Then, According to the problems which are exposed by the injection arm in the worksite. this paper tries the new ideas of reversing design and verification which can guide theredesigning of injection arm. First of all ,it turns the 2d drawing of injection arm to 3ddrawings and establishes its virtual prototyping model. Secondly, for the sake of the bad conditions of injection arm during two kinds of typical spray process, it does kinematicssimulation by Proe/MDX and dynamics simulation by Proe/MDO on injectionarm.Thirdly, it does a statics analysis on big arms and forearm connection, the analysisverify that Strength and stiffness of big arms connection is good while the stiffness offorearm connection does not conform to the requirements in the second working condition.Finally,it operates Optimization analysis on forearm connection.At last, according to the practical problems that action of spray-head is not sensitiveduring 240 degree and 360 degree swing, this paper does theory analysis about factorswhich may influence the response speed of Swinging cylinder hydraulic system. This textproposes the solution of taking Y function of proportion reversing valves replacement forO function which control 240 degree and 360 degree swing . First of all, it Establishessimulation model of load sensitive pump and multitandem valve with Y function or Ofunction by AMESim,at the same time ,the AMESim model of Swinging cylinderhydraulic system is built .then, this paper does simulation analysis for Swinging cylinderhydraulic system, the simulation results explain that the the response speed of Swingingcylinder hydraulic system with O function is faster than Y function, and Optimizationscheme can improve the sensitivity of swaying actions. Finally, The feasibility of the newswaying actions control scheme and the correctness of the simulation model are verifiedthrough the experimental results. Through the above analysis, the conclusion of concretespraying provides theoretical basis for the subsequent improvement. The results ofstudying have a good application prospect and a social economic benefit. |
PDF Full Text Request