R&D Of Trailer Based On Six-degree-of-freedom Attitude Adjustment Platform

With the development of technology and the improvement of operation requirements,the professional division of work for handling carrier is becoming more and more detailed and targeted.However,there are still many problems such as long loading time,low automation level,and wasting human resources in handling carrier.Therefore,we should strengthen the handling equipment with posture adjustment function,especially the research and development of the handling carrier on the platform with six degrees of freedom.Improving the design and experimental research of the six degrees of freedom attitude adjustment platform is very important for promoting the automation and industrialization of the whole hanging industry.In this paper,a hanging carrier based on six degree of freedom attitude adjustment platform is developed,which can adjust vertical,horizontal,pitch,roll,lift and gyration of six degrees of freedom.It has the characteristics of wide range of adjustment and short adjustment time.The development of the hanging carrier is carried out from three aspects:theoretical calculation,simulation and experimental research.The main contents of the paper are as follows:Firstly,according to the design requirements and the relevant design standards,this paper completes the design of the whole vehicle parameters match.It mainly includes:(1)Complete the calculation and type selection of the motor and check the drive performance of the handling carrier;(2)According to the battery requirements of the handling carrier,the matching design of the power battery is completed.Then the whole vehicle design scheme is put forward,including:frame design,steering mechanism design,battery box design,chassis layout design,car body and battery panel design,as well as the related battery system,electrical system and hydraulic system design.Secondly,according to the design requirement of six degrees of freedom attitude adjustment platform,we put forward the overall design plan and the driving plan of each degree of freedom.The structural design of the vertical,horizontal,pitch,roll,gyration,vertical lift and passive adjustment layers is carried out in series sequence,including the design and selection of each layer of oil cylinder or rotary support,and the strength checking of the related parts,such as slide block and ball bearing support.At the same time,the lifting mechanism is theoretically analyzed and the lifting cylinder is selected.Finally,the design of six degrees of freedom attitude adjustment platform and lifting mechanism is completed.Then,the whole structure of the hanging carrier is analyzed by finite element method.The position of the ten limiting positions of the hanging carrier in the position adjustment operation mode is selected as the limit adjustment position.The strength of the hanging carrier on the ten working conditions is analyzed,and the strength is checked according to the stress diagram.The finite element analysis is carried out on the three kinds of driving conditions that may be encountered in the driving process,and the strength and stiffness of the driving condition are checked according to the related stress-strain diagram.Then the modal analysis of the vehicle is carried out.According to the first six order natural frequencies and mode shapes and excitation frequencies,the results show that no resonance occurs when the whole truck is running and operating.Finally,the performance test of the hanging carrier is carried out.It is tested whether the adjustment position of each degree of freedom and the average speed of each degree of freedom adjustment can meet the design requirements.Then the running performance test of the hanging carrier is carried out to test the maximum load speed,the maximum speed,the braking distance and the turning radius.Finally,we test the hanging carrier,and putforward some solutions to the problems.