Design And Optimization Of Hoisting Mechanism Of Dead Livestock And Poultry Transport Vehicle

With the rapid development of rural economy,the breeding scale of animal husbandry is expanding,and the number of dead livestock and poultry is also increasing.In order to improve the efficiency of harmless treatment and resource utilization of dead livestock and poultry,reduce the risk of secondary pollution caused by dead livestock and poultry carcasses,and reduce the threat to the life safety of employees.Based on the harmless treatment and transportation of dead livestock and poultry,this paper studies and designs a hoisting mechanism integrating grab device and lifting device,in order to efficiently complete the hoisting task of moving dead livestock and poultry from the ground to the refrigerated transport vehicle.The main research work is as follows:(1)In order to solve the problem of complex shape and heavy weight of dead livestock and poultry,the design requirements of lightweight,good envelope and strong adaptability are put forward.The characteristics of various transmission modes and driving modes of existing grasping devices are analyzed,and a three finger six degree of freedom design scheme driven by tendon rope transmission motor is selected,Based on the body weight of dead livestock and poultry and the relevant parameters of transport vehicles,the specific structure of the grasping device is designed,and the three-dimensional model is established in Solid Works software.Based on the structure of the grasping device and taking the maximum weight of dead livestock and poultry as the load,an electric hoist lifting device composed of steel wire rope,drum,motor and crane is designed from bottom to top,and the overall design of the lifting mechanism is completed.(2)The kinematics and mechanics of the grab device in the hoisting mechanism are analyzed.The kinematic model is established by using D-H parameter method,the coordinate system transformation matrix of the grasping device is obtained,and the motion range of a single finger is simulated in MATLAB.The dynamic analysis is carried out by using Lagrange equation,and the relationship between driving tendon rope and finger motion is found.Taking the maximum weight of dead livestock and poultry as the load,the static analysis of the grasping device is carried out,and various factors affecting the grasping force are found,so as to obtain the minimum tension of the driving tendon rope.Further,according to the minimum tension of the transmission tendon rope and the layout of the tendon rope in the transmission box,the force transmission problem is analyzed,and the reducer and the driving motor of the grasping device in the transmission box are designed.(3)Based on the mechanical analysis,the finite element analysis of key parts in the hoisting mechanism is carried out by using ANSYS software to verify that the strength of parts can complete the hoisting task.(4)On the premise of determining the overall structure of the hoisting mechanism,the modeling and grasping motion simulation of the hoisting mechanism are carried out by using ADAMS software.The mass center displacement of each finger knuckle,joint angular velocity and acceleration are analyzed to verify the stability of grasping and hoisting motion.The cylinder is used to simulate dead livestock and poultry to simulate and analyze the grasping force,and the rationality of the structure of the grasping device is verified.