Design and experiment of automatic grasping manipulator for side-mounted garbage truck.

Abstract

At present, due to the high labor intensity, low level of mechanization, automation, and intelligence in garbage collection, the existing garbage collection mode, garbage collection and transportation facilities and technologies are no longer able to quickly and timely meet the increasing demand for garbage. In response to the problems of structural instability, garbage leakage, and damage to garbage bins in the mechanical arms of current garbage trucks, this article designs a hydraulic rod series driven lifting flipping mechanism to address these issues; The dual hydraulic rod lifting mechanism and distance compensation mechanism are used to achieve multifunctional collection and dumping of garbage bins, solving the problem of traditional garbage trucks relying on manual pulling or human eye positioning of the distance between the vehicle and the bin for lifting and dumping, and the easy occurrence of slipping during the dumping process, thus improving the efficiency and automation level of garbage collection and dumping. The dual hydraulic lifting structure improves the stability of the gripping work and can significantly increase the weight of the garbage bin that can be gripped. The distance compensation mechanism can improve the accuracy of the robotic arm gripping and reduce the difficulty of operation. Different clamping forces are set according to the weight of different trash cans, and the structural rationality and functional feasibility of the robotic arm are verified through experiments, solving the problem of trash cans easily falling off or collapsing during the clamping and dumping process. Design the control system for the robotic arm of the garbage truck and conduct dumping experiments on the entire machine to meet different usage requirements under various working conditions.