Structural Design And Analysis Of Industrial Robot For Muck Inspection

The field of muck detection has always been manual detection,which has disadvantages such as harmful health,low efficiency and long time,In order to realize the automation of muck inspection process,the design of industrial robot for muck inspection was carried out based on the actual engineering requirements and combined with the characteristics of the actual installation location of muck inspection.First of all,according to the design criteria of mechanical devices such as function realization,strength,stiffness and assembly required by the project,the overall scheme of the muck detection industrial robot is preliminarily designed,Creo 3D software is used to build the overall 3D model.Calculate the key parts and refer to the relevant selection manual to select the suitable model.The sampler may encounter stones in the process of sampling,so it is necessary to carry out explicit dynamic analysis on the sampler most easily damaged samples.The parallel and inclined cases of stones are analyzed,and the displacement and stress nephograms are obtained,the analysis results verify the rationality of the design.The relative size of the sample piece was optimized,and the relationship between the parameters of the sample piece and the displacement and stress during the collision of the sample piece with the stone was analyzed.The joint surface which has the most influence on the ball screw system dynamic is modeled,and the stiffness of the joint surface is calculated.The dynamic model of the ball screw system is established,and the motion differential equation is derived by Lagrange equation.The modal analysis of single and double drive ball screw system is carried out,to verify the correctness of the dynamic model,and the natural frequencies and formations of their modes are obtained.Resonance is avoided by comparing the natural frequencies of the beam with the actual frequencies of the screw as the excitation frequency and the output of the motor reducer.Optimizing the beam with the weakest vibration and increasing the number of triangular support plates can enhance the beam stiffness and increase the natural frequency.The modal analysis of the whole structure is reasonable.Finally,the stress distribution and displacement nephogram of the fixed cantilever beam are calculated,and the position of the maximum stress and displacement of the cantilever beam is obtained;Static analysis is carried out on the beam to analyze the force of the beam under the action of the lifting mechanism and the sampler.Optimize the triangular support plate to reduce weight and save cost.