Research On The Key Technology Of Intelligent Card-tooth Handling Robot In Stereo Garage

In the process of urban traffic development,due to the long-term focus on dynamic traffic-road construction,while ignoring the static traffic-the construction of parking lots(garages),parking Spaces are in short supply.Therefore,it is urgent to solve the parking problem.In order to solve this problem,popularizing the utilization rate of the three-dimensional garage has become the top priority,and the intelligent carourer is the core of its technology.Therefore,this paper designs a new intelligent carourer carourer robot,and studies its key technology.It is hoped that through the use of intelligent comb gear handling robot,improve the overall three-dimensional garage operation efficiency,make it more reliable and stable,faster speed,higher space utilization.The main research content is as follows.First,this paper describes the overall design scheme,and according to the specification of the transportable vehicle,the size of the whole machine and the size of part of the structure.On the basis of the modular design principle,the design of three major mechanical mechanisms including the telescopic comb tooth mechanism,the CAM lifting mechanism and the ground walking mechanism as well as its transmission system is completed.Moreover,the whole machine was modeled from bottom to top in the Solidworks environment.At the same time,the main bearing parts are designed and calculated,the finite element model is established with the help of ANSYS finite element analysis software,and the static simulation is carried out to verify whether it meets the use requirements of strength and stiffness.Second,by investigating the usage of similar products in the market,it is found that the comb tooth structure of the intelligent comb tooth handling robot is prone to fatigue fracture.In order to solve these problems,a series of improved designs are carried out on the structure of comb teeth.Firstly,the theoretical calculation of the designed comb tooth structure is carried out according to the bending model of euler-bernoulli beam.Secondly,the finite element model isestablished and the modal simulation is carried out to extract the natural frequency and mode diagram.Finally,the theoretical calculation and simulation results are compared,and it can be seen that the two results are basically consistent,which not only verifies the correctness of the analytical solution,but also shows that ANSYS modal simulation is a good modal analysis method.Thirdly,on the basis of the original design of the comb tooth structure,the comb tooth section shape and main size parameters are optimized.In order to facilitate the modification of model parameters and repeated analysis,APDL program was used to conduct modal simulation of comb tooth structures with different section shapes,and the optimal comb tooth section shape was obtained by comparing the natural frequency and mode patterns of comb tooth structures with different section shapes.At the same time,the other tubular comb structure for further size optimization,using the zero order optimization method to optimize analysis,under the constraint conditions of design variables and state variables,and get the optimal objective function(the quality of the lightest),by comparing the data before and after optimization reduced about 34%,due to the30 pieces of the same comb machine,so the entire quality decreased by 52.5 kg.