Static And Dynamic Analysis And Structure Optimization Of Manipulator In Refuse Collection Vehicle

Refuse collection vehicle is a special vehicle for environmental sanitation with the functions of garbage collecting,compressing and transferring,after years of digestion and absorption and independent innovation,the development of refuse collection vehicle has made great progress in our country.The manipulator is an important component of refuse collection vehicle,and its function is to realize automatic feeding.Based on the manipulator of the self-developed side loading refuse collection vehicle as the research object,the virtual prototype model and finite element model are established,and the dynamic and static characteristics of the manipulator are analyzed by dynamic and static simulation,and the structure dimention optimization based on the finite element method,achieve the lightweight design goal.The main research contents include:(1)The scheme of the manipulator is designed and its working principle is analyzed.According to the technical requirements of side loading refuse collection vehicle and the structure of trash,combined with the performance of existing products,put forward two design schemes for the manipulator.After a comprehensive comparative analysis of advantages and disadvantages of the two schemes,from the perspective of improving the automation level of refuse collection vehicle's point of view,selected the reasonable scheme,and established 3D entity model.Analyze the working principle of the manipulator and the automatic feeding process of refuse collection vehicle,and verify the feasibility and correctness of the scheme through the manipulator's movement path.(2)The dynamic characteristics of the manipulator is analyzed.Based on the kinematic and dynamic analysis method,the virtual prototype model of the manipulator is established,and the kinematic and dynamic simulation are carried out for the lifting and turning process.Taking the tongs centroid as the research object,simulate the movement of the trash in the process of automatic feeding,and obtain its displacement and velocity curve.By analyzing the dynamic characteristics of the lift arm and the turnover arm,research the stress condition of the hydraulic cylinder and the rotary cylinder.It is found that the vibration and shock of the manipulator will occur at the moment of lifting,backing and turning process,the reason is related to the mutation of driving force.(3)The static characteristics of the manipulator is analyzed.Based on the turnover arm,lift arm and gripper mechanism composed of manipulator model as the research object,calculate and analyze the static characteristics of manipulator under three working conditions of holding,lifting and dumping,find the maximum stress and the maximum deformation and its location.The results show that the stress in the corner area of the lift arm is the largest by the impact of stress concentration,and the maximum deformation position appears at the front end of the left hand.The stress of the manipulator under deferent conditions is in the range of allowable stress,which indicates that the stiffness and strength of the manipulator can meet the design requirements.(4)The structure dimension optimization and lightweight design of the manipulator are carried out.Selected the holding condition as the research object,the optimal mathematical model of the manipulator is established,which is based on the finite element method,combined with the result of the finite element analysis,to optimize the manipulator.Obtained the section thickness of the turnover arm,lift arm and base after optimization,the mass of the manipulator reduces 14.18%than before,achieve the desired effect of lightweight design,and it has certain guidance and reference significance for the production of manipulator.