Structural Design And Analysis Of Wet Shotcreting Machine

In recent years,due to the strong support of national policies,the domestic wet sprayer industry has developed rapidly.The wet shotcreting machine is a mechanical device for spraying concrete by means of pumping mechanism and manipulator,which is widely used in the construction of highway tunnels and hydropower stations.At present,the domestic concrete spraying construction technology is not yet mature,such as unreasonable machine configuration,complicated operation,poor adaptability to working conditions,etc.,the structure design is not reasonable,the reliability is not high,for the shotcrete manipulator,the research on design is relatively lagging,and there is relatively little research on theoretical analysis.Therefore,this article takes wet shotcreting machine as the research object,and researches from the main structural design and selection of the whole vehicle,anti-overturning stability,static mechanics,kinematics and dynamics of the shotcrete manipulator.First of all,this paper introduces the development prospect and research significance of the wet shotcreting machine,expounds the research status of the wet shotcreting machine at home and abroad,and makes specific chapter arrangements for the research content of this article.Secondly,combined with the working environment,general requirements and working conditions of the wet shotcreting machine and the development trend of the wet shotcreting machine,the overall structural parameters of the wet shotcreting machine are determined,the chassis and engine are selected,the key structures such as pumping mechanism and shotcrete manipulator are designed and calculated,and the three-dimensional model is drawn in Pro / E.Thirdly,the anti-overturning stability analysis of the wet shotcreting machine includes longitudinal stability and lateral stability analysis,the reaction force received by the spray head during work is calculated,and it is verified that the designed wet shotcreting machine has Antioverturning stability,no forward,backward and side rollover.Then,using the ANSYS workbench software to conduct a static analysis of the most dangerous condition of the shotcrete manipulator,the results show that the design of the shotcrete manipulator meets the strength and rigidity requirements.After that,the modal analysis of the shotcrete manipulator system is carried out,and according to the first six order results of the modal analysis,corresponding measures are proposed to avoid resonance of the wet shotcreting machine during construction.After that,D-H parameter method was used to complete the mathematical modeling of the shotcrete manipulator,and the kinematics equations were solved.The Matlab Robotics toolbox was used to carry out the kinematics simulation analysis of the shotcrete manipulator to verify the correctness of the model.Based on the Monte Carlo method to solve the working space,the joint space trajectory planning of the shotcrete manipulator is completed in the robot toolbox.The results show that the design meets the motion requirements.Finally,the Lagrange equation was used to establish the dynamic model of the shotcrete manipulator,and the dynamic simulation analysis was performed with Adams software to calculate the driving force change of each cylinder under typical working conditions,and the maximum load value of each cylinder was obtained.The design of the hydraulic system of the wet shotcreting machine has laid the foundation.