| At present,domestic methods for the treatment of household garbage generally depend on manual collection and transfer station storage.With the advancement of urban and rural ecological civilization construction,the original garbage collection and transportation equipment can no longer meet the health city standards.Vehicles that take into consideration the efficient collection,compression,and transportation of waste have become the new darling of the sanitation sector.This paper took the self-developed side mounted robot arm as a research object,established a virtual digital prototype and finite element model,validated the safety when working based on kinematics analysis.The dynamic simulation and finite element method are used to study the load bearing characteristics and static response of manipulator,ensure its stability and reliability.The structural size optimization of key components was completed to achieve the goal of lightweight.The main research content includes:(1)Robot arm structure and working mechanism are investigated.Based on the technical specifications of the traditional kitchen garbage truck and the structural features of the trash can,two sets of design ideas for the end load-bearing mechanism are proposed.A simple and stable hook scheme was proposed and a three-dimensional model was established combining the specific using environment of urban and rural areas.The working mechanism of the loading arm was analyzed,the steps of automatic collection of garbage trucks were performed,and the design scheme was verified to be efficient and economical.(2)Robot arm trajectory and anti-overturn performance are analyzed.Based on the virtual prototype platform provided by ADAMS software,a functional digital prototype of the loading robot arm was established.The horizontal telescoping and lifting flip movement process was simulated to obtain the path of the centroid of the hook and the movement of the top cover,so as to determine the working area of the robot arm.The moment balance method was used to analyze the anti-overturning properties of the garbage collection trucks,which showed that they can ensure the safety of people in various situations(3)Robot dynamic and finite element simulation are carried out.For the virtual prototyping model of the loading robotic arm,the dynamic calculation of out bucket and lift-up flipping steps was completed.It was found that peak force of hydraulic cylinder reached 9118.6N,and the system would have significant impact whenever the movement state changed.The finite element method was used to simulate and analyze the static characteristics of the manipulator under dangerous working conditions.The results showed that maximum stress position appeared at the weld joint of lifting rod base,and maximum deformation position was the end surface of hanging ear.However,the stress on the manipulator is within the allowable stress range of the material,indicating that the stiffness and strength of load manipulator can meet the design requirements.(4)Robot arm structural size are optimized.Selecting the most critical manipulator component in the feeding process as research object,the homogeneous topology method was used to establish the discrete hole model of the manipulator.Combining finite element analysis and calculation results,optimization of loading structure of the robot arm was to obtain the cross-sectional thickness of the hanger bracket,extension arm and tie rod base.Compared with the state before the optimization design,the manipulator reduced the mass of 16.23%,achieved the expected effect of lightweight design,and had certain guidance and reference significance for the commissioning of the loading robot arm. |
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