The Design And Research On Automatic Grasping Manipulator

In recent years,with the increase of people's awareness of environmental protection,the urban and rural ecological environment has received significant attention,and relevant policies have been issued one by one,to promote the reduction of urban and rural garbage,resources,harmless,to solve the problem of waste disposal.Taking the loading mechanism of garbage truck as the research object.The automatic grasping manipulator device of garbage truck is designed,which is the key equipment to realize the efficient transportation of household garbage.The entire device is located in the right side of the garbage truck,embedded in the casing,reduce the transverse area of the compartment and tilting moment,this device is simple in structure,low manufacture cost,can be installed in daily life waste,kitchen waste and other special automobile,and able to complete accurate grasping,dumping trash can,mouth and dumping of unique design,not easy to cause secondary pollution,greatly improving the efficiency of the recycling,is also actively response to the demands of the development of the new era,add a force to build green homes.Firstly,the existing technical scheme of domestic garbage collection trucks is analyzed,finds out the defects and deficiencies of domestic garbage collection trucks in the process of dumping garbage,proposes improvement schemes,and completes the design of the overall equipment.The device is divided into three parts: grasping mechanism,sliding rail frame and box lid.Among them,the grab mechanism and the lid opening and closing device are interlocked,so that the lid of the garbage can only be opened when the garbage is dumped,to avoid secondary pollution.The grasping mechanism adopts the simultaneous control of the double hydraulic cylinders to achieve the synchronous grasping and self-locking effect of the hand claw.Pulleys are set at both ends of the sliding rail frame,which can make the sliding rail frame slide up and down to produce an inclined Angle when it is pushed out,so as to achieve theeffect of grabbing the mechanism close to the trash can and reduce the inertia force when the garbage is dumped.Second,automatic fetching manipulator device for motion simulation and mechanical analysis of key components,using Solidworks motion plug-in,import the3 d model,by applying driving force,completes the movement which the manipulator speed and displacement curve simulation,the feasibility and stability of the manipulator is verified.in the movement process.At the same time,finite element analysis software is used to analyze the mechanical properties of key components,to find the locations where the maximum stress,displacement and strain occur,to elaborate the results of finite element analysis,to verify whether the key components meet the requirements of strength and stiffness,and to improve the parts that do not meet the requirements.Then,analyzed the operation condition of the hydraulic system,draw a force diagram of each unit,and calculate the maximum load,determine the maximum thrust of each device hydraulic cylinder,combined with the maximum thrust force of the hydraulic cylinder and the type of equipment,the main parameters of the hydraulic system design are determined by referring to the design manual,and the overall design of the hydraulic system is completed.Finally,verify the reliability of hydraulic system,through the reliability analysis of lifting device,grasping device and opening and closing device of car cover in the hydraulic system,the reliability analysis mathematical model is established.With the help of MATLAB software,the reliability curve of each working step and the whole system is simulated,and the mean trouble-free time of the system is calculated.At the same time,based on the results of reliability analysis,the maintenance strategy is proposed in order to improve the service life of the hydraulic system and reduce the operating cost.