Mechanical Structure Design And Realization Of A Garbage Automatic Sorting And Recycling Robot

The disposal method of urban road garbage in China is at the end of the garbage sorting and recycling system,which leads to the problem of low level of automation and intelligence.Therefore,this paper decides to design a robot that can automatically search,classify,and recycle road garbage in semi-enclosed environments where people gather in cities（such as residential areas,school districts,etc.）.The main work is as follows:1)The actual operating environment of the robot and the types of garbage was investigated and analyzed,so as to determine a complete and feasible implementation plan,which divided the robot system into three parts: four-steering wheel omnidirectional movement system,palletizing manipulator and robot claw.Then completed the mechanical structure modeling and motor selection,etc.2)The kinematic capability of the manipulator was verified.Through kinematic simulation of the manipulator under load,the motion parameters（trajectory,displacement,velocity,etc.）at the end of the manipulator,the output torque and the force variation at the joints were obtained,and then the rationality of the structural design and motor selection was proved through analysis.3)The reliability of the structural strength of the manipulator was checked.The statics simulation of the key parts of the manipulator was carried out by using the effective data obtained from kinematics simulation.By observing the deformation nephogram and the equivalent stress nephogram,the hidden danger in the strength of the structure was found,and it was adjusted and optimized.4)The structure of flexible finger based on fin effect of mechanical claw was screened,and the optimal structural shape was selected.By extracting two structural parameters that affect the grasping effect of flexible fingers,several experimental groups with different structures were set up.Then the contact deformation simulation experiment which simulate the grasping process was carried out,from which the finger structure with the best grasping effect under specific conditions was selected.5)The assembly of the robot was completed and the running experiment was carried out,which proved that its performance can meet the requirements of the project.