城市窨井清掏机械手的研究机械工程专业论文.docxVIP

摘 要 城市垃圾处理是城市环境建设过程中的一项重要工作，而城市窨井及污水管道清 理又是城市垃圾处理工作中的关键环节。在城市现代化建设过程中，极易发生生活垃 圾及工程物料掉入窨井内，导致重物堆满窨井，堵塞生活污水管道，给排污工作带来 了很多困难，甚至会发生生活污水外溢。这给人们的生活带来诸多不便，且会影响环 境卫生。目前城市窨井清掏重物工作主要依靠人工清掏，使用较原始清掏工具进行作 业。人工清掏效率低下、劳动强度大及安全性差。针对城市窨井清掏重物难于实现机 械自动化问题，设计了一种具有自适应抓取和卸载能力的大负载窨井清掏机械手。 本文分析了目前城市窨井清掏作业现状，提出了窨井清掏机的总体设计方案。在 对工业机械手设计理论研究的基础上，阐述了窨井清掏机械手的工作过程及特点；进 行了机械手手爪运动学分析和静力计算；利用 UG NX 软件的设计功能，建立了机械手 和回转臂的三维实体模型，装配模型并对机械手手爪进行了运动仿真，获得了机械手 手爪的角位移、角速度和角加速度曲线。通过手爪各曲线图，分析手爪的运动特性； 利用 ANSYS 软件的有限元分析功能，对窨井清掏机手爪和回转臂进行了线性静力学分 析，获得位移变形图、应力分布图和安全因子图，并对输出结果进行了详细分析。 通过对机械手进行虚拟建模、仿真、比较、修改与优化，观察并分析角位移、角 速度及角加速度曲线的变化规律，验证了所设计的机械手正确、合理。通过对手爪和 回转臂进行有限元分析，明确了它们各自的安全系数、应力分布及总体变形情况，分 析结果证明了手爪和回转臂的结构设计安全、合理和可靠，为进一步优化设计与研究 清掏机械手提供了重要依据。窨井清掏机械手将成为城市建设中的新亮点，对城市现 代化建设具有重要意义。 关键词：窨井；机械手；运动仿真；有限元分析 Abstract Urban garbage treatment is an important work in the course of the construction of the urban environment. But the work to clean the sewage well and municipal sewage pipeline is the key link of urban garbage disposal. In the process of urban modernization, it is easy that the living garbage and engineering materials fall into the sewage well, it leads to fill the sewage well with the weight, and block the sewage pipe; it will bring a lot of difficulties to drain work, even sewage spillover will overflow. It will bring so much trouble to daily life, and will affect the environment. Now, the artificial cleaning method is still the main way to clean the weight, workers use the original tools for homework. The characteristic of artificial cleaning is low efficiency, high labor intensity and poor safety. In view of the problem that it was difficult to realize mechanical automation with cleaning sewage well, a kind of adaptive crawl and unloading capacity of large load cleaning manipulator was designed. In this paper, the current status of city sewage well cleaning was analyzed, the overall design scheme of cleaning sewage well machine was proposed. In the industrial design theory based on the research of the manipulat