Design And Research Of Dredging Robot For Leachate Grid Plate In Waste Power Plant

With the improvement of living standards,more and more garbage is generated in urban life.Today,with the rapid urbanization process,waste incineration will gradually become a realistic choice.Since there is more garbage leachate in the garbage,in order to increase the calorific value of waste power generation,these leachate must be discharged.The general practice is to open a leachate channel at the bottom of the garbage pool.In order to ensure the liquid passage effect of the filtrate hole,it is necessary to periodically And timely clearing and clearing the filtrate hole,this topic is aimed at the necessity of regular dredging of the leachate channel of the garbage pool and the limitations of the current application of the dredging method,and carries out research and development work according to the actual working conditions of dredging,aiming to design and apply to the garbage.The pool leachate grille plate dredges the robot.The paper will analyze and study the structure,hydraulic system,dynamics and statics of the robots involved.The specific research contents are as follows:(1)Combining the on-site working conditions and the problems to be solved at present,the scheme of dredging the grid plate dredging robot is proposed,and the dredging robot mobile platform,dredging actuator and power system are systematically designed,and the dredging is determined.The main technical parameters of the robot,and the use of Solidworks software to complete the three-dimensional modeling of the dredging robot.According to the design requirements,the Mecanum wheel can be used as a mobile chassis to achieve all-round movement,suitable for narrow and limited space leachate passages;and an efficient dredging actuator is designed.The dredge platform is driven by a screw and is hydraulically supplied.Unblocking force,dredging method is single hole dredging.(2)Designed the hydraulic system of the leachate grid plate dredging robot,selected the hydraulic system as the open system,and achieved lightweight design under the premise of meeting the design requirements;and completed the key components and auxiliary components of the hydraulic system.Calculation and selection.(3)The kinematics model of Mecanum wheel mobile platform is established by inverse kinematics method,and the simulation analysis of mobile platform is carried out by using ADAMS software.Through analysis,the speed error of Mecanum wheel mobile platform can be controlled within 2.5% when the omnidirectional movement is achieved.The simulation results are basically consistent with the theoretical analysis,and the motion accuracy meets the requirements.The STEP function is used to simulate the dredge platform to ensure the dredge robot work.The stability of the time and verify that the selected drive motor is reasonable.(4)Using the ANSYS Workbench software to complete the contact simulation of the Mecanum roller and the ground,according to the results of the contact of the roller,to provide a theoretical basis for improving the motion performance of the Mecanum wheel;the strength and rigidity of the chassis,the ball joint and The finite element analysis of the contact on the wall shows that the strength and rigidity of the chassis are satisfactory.The pressure on the wall is within the bearing range and the wall will not be damaged.According to the above research results,it provides a theoretical basis and reference basis for the design and manufacture of the leachate grid dredging robot for waste-to-energy plants.