Design And Development On Machine With Spraying Lime Liquid

The street trees are usually suffered from atrocious environment in nature if they can’t be provided with artificial help,so people used to brush lime water on their surface and it performs a good effect.However,artificial brushing almost can not improve the quality of service with low efficiency,passable working performance and intense hurt to staff. In order to overcome disadvantages of spraying trees artificially with lime water,this article make an improvement on base of the previous research foundation and design a new wheel-legged mobile machine with mutiple function including walking straight, turning, and climbing over obstacles.As a kind of more advanced idea,the modular design in the robot field is introduced in this paper.The different devices and components are designed separately from different modules.Besides,this paper make a detailed introduction to configuration and structure characteristics of the machine.The machine is not only easy to operate, with excellent practical application ability and strong adaptability, but also solving the outstanding problems of low work efficiency and avoiding direct contact with poisonous and harmful liquid for staff.The research methods and prototype manufacture process using in this paper has a certain value in research and practice.(1)After analyzing the characteristics of different movement modes and applicable occasions,this paper put forward an active steering device of front wheels with differential mechanism of back wheels which adapt to conditions and function requirement for the machine. The chassis and wheel-leg hybrid mechanism devices were designed relatively.Obtaining better effect of spraying, the paper design a manipulator that can spraying trees with 360 degree surrounding.Finally, it ensure the reliability and rationality of the mechanism by selecting and checking related parts.(2)Steering kinematics model and surmounting dynamics model are deduced in this paper. This paper describe mathematical relationship between the front wheel and the driving wheel speed under full consideration to the two front steering angle in the inconsistent case,elaborate the relation between related parameters and variables under local coordinate and the global coordinate system,also analyzing the mutual influence relationship among objective direction angle,initial direction angle,the speed of the driving wheel and steering angle of front wheel.Besides,this paper analyze some parameters about the angle of steep hilland coefficient of friction with mutiple-body dynamics theory on ground.The size of torque provided for motor,obtained theoretically by calculation are on show.(3)The model of machine is created by using multi-body virtual prototype technology in the dynamic software ADAMS.In this way the process of steering is simulated,verifying it feasible for the front wheel steering device with the double guide rods.At the same time,the situation of wearing and sideslip for wheels is improved by differential mechanism with outstanding function of velocity distribution. The kinematics simulation on manipulator was carried out, obtaining the movement change curve about the angular displacement, angular velocity and acceleration of the robot arm.Finally,the prototype production is completed and a control system is built under the guidance of theoretical designing and simulation results,which makes the machine realize semi-automation in the process of painting joined by staff.