Working Arm Structure Design And Hydraulic System Simulation Of Small Prying Trolley

China's coal mining conditions are relatively complicated,and the problem of pressure deformation of roadway has become one of the main problems affecting the efficient operation of underground coal mines.It is a more effective way to clean loose rocks with a bristle trolley.Due to the length of the arm of the mane trolley on the market,the rock cleaning operation cannot be performed flexibly in the limited space of the small roadway.In this paper,a prying trolley suitable for cleaning rock in small roadways is designed based on a large number of documents.Design the working arm structure according to the section size of the small roadway and the location where the rock needs to be cleaned.The small engineering vehicle was selected as the mounting platform,and the slewing bearing was selected according to the structural parameters of the working arm.Stress analysis of the three typical working conditions of the working arm and calculate the maximum force values of the four hydraulic cylinders.The kinematics equation of the working arm is established according to the method established by the D-H coordinate system.By using the finite element software,the static analysis of typical working conditions of the manipulator is carried out,and its stress and deformation are studied.The research results show that its strength and stiffness meet the design requirements.Under the condition that the stress and deformation meet the requirements,the result of optimizing the arm thickness of the boom is that the arm thickness is reduced by 2 mm,and the requirement for weight reduction is achieved.According to the working characteristics of the working arm,the hydraulic system of the working arm is designed,and the models of hydraulic cylinder,rotary motor,variable pump and electro-hydraulic servo valve are selected.The load sensitive pump model and the hydraulic pressure of the working arm were established by AMESim software.According to the dimension data and assembly relation of the working arm,the AMESim two-dimensional model of the working arm was established by using the planar mechanism library.The simulation results show that the rotary motor and the crushing hammer can work smoothly and normally in the designed hydraulic system.According to the electro-hydraulic servo control system model of the working arm,using PID control,to build four hydraulic cylinder closed loop control system,using AMESim software on the PID control system simulation,it is concluded that the hydraulic cylinder displacement response curve,the simulation results show that The four hydraulic cylinder control systems have a faster displacement response and a shorter lag time,but there is still a certain amount of overshoot.For this reason,this paper designed a fuzzy PID controller of the big arm hydraulic cylinder on matlab/Simulink.Through the co-simulation with the hydraulic system established in AMESim,the simulation results show that the fuzzy PID control has less oscillating and overshoot,and the control effect is better than the simple PID.