一种喷浆机械手支腿最大支反力计算方法

Calculation method of maximum outrigger supporting reactions for shotcrete manipulators

分析了由喷浆机械手车架、支腿和支承面组成的柔性支承系统的支承状况对其支腿所受支反力的影响,发现其所受的最大支反力与旋转臂架相对于支承点的位置关系和整机的机构尺寸有关;给出了如何分析支腿所受可能最大支反力的判定方法,将柔性支承系统的实际支承情况作为确定支腿所受最大支反力和建立方程的条件,提出了支腿所受可能最大支反力的计算方法,并推导出了其计算公式.

By analyzing the supporting conditions on the outrigger supporting reactions from flexible supporting system with shotcrete manipulatorframe,outrigger and surface,the maximum supporting reactions are initially related to relative position between rotary arm and supporting point as well as structure dimension.Subsequently,the judgment is postulated to decompose the maximum outrigger supporting reactions by treating the actual supporting conditions of flexible supporting system as those of outrigger maximum supporting reaction determination and equation establishment.Consequently,the calculation method,together with formula,is speculated.