Research And Analysis On Body And Moving Type Manipulator Of Spaying Trolley

At present,more and more spraying trolleys have been carried out.The balance of the body is of great importance to the stability of the trolley operation.The current leveling method is to artificially adjust the level manually to adjust the leg.This method has low efficiency and low leveling accuracy.The manipulator of the spraying trolley is getting longer and longer to adapt to the working area,but this kind of long boom trolley is not suitable for stratifying excavation.In view of the above deficiencies,an body auto-leveling electro-hydraulic proportional hydraulic system and a moving type manipulator are designed.Extend the operating range without increasing the length of the boom and apply it to stratified excavation tunnel support.They provide theoretical basis for the structural design and performance improvement of the spraying trolley.In this thesis,the main components of the spraying trolley body and the relationship between the various parts are introduces and the driving method of the walking system is selected.The auto-leveling electro-hydraulic proportional system is designed.The supporting force and displacement of the leg hydraulic cylinder are analyzed and calculated.Based on this,the hydraulic cylinder of the leg is selected.According to the working principle,the kinematics and dynamics are analyzed,D-H method is used to get the kinematics positive solution and inverse solution are obtained.Based on the geometrical relationship,the relationship between the expansion and contraction of the hydraulic cylinder and the swing angle of each arm is derived.The manipulator's hydraulic system is designed.It is determined that the hydraulic system adopts load-sensitive technology.In the most dangerous working conditions,the force analysis is performed to obtain the maximum pushing force required by the hydraulic cylinders to determine the parameters and models of the key components.And the load-sensitive system is modeled and simulated to obtain the curve of pump outlet pressure and flow.The ADAMS software is used to establish a virtual prototype with the manipulator.Through simulation analysis to obtain acceleration and displacement curves of each boom and the force condition of each hinge point.In the most dangerous state,finite element analysis of the large-arm to obtain the large-arm's deformation and stress cloud diagram and its first six modal characteristics.It provides a theoretical basis for the moving type manipulator's design and study.