园林修剪机器人臂端刀具优化设计与稳态分析

Optimal Design and Steady-state Analysis of Garden Trim Robot Tool

我国园林绿化面积不断扩大,但园林修剪机设备目前处于半人工半自动化状态。为此,提出并设计了园林修剪机器人,并对园林修剪机器人末端执行机构刀具进行优化设计与稳态特性研究,最终达到设备稳定修剪的目的;阐述了园林修剪机器人末端中机构的结构、工作原理及操作方法;以多种组合刀具为研究对象,利用ANSYS有限元分析以及其Ls-Dyna有限元显式求解程序对多种组合修剪刀具进行静力学分析、模态分析及动力学仿真计算,构建出应力值与应变值、刀具齿数、刃口形状的关系模型;然后,进行齿数、刃口形状对刀具进行稳态特性优化,研究稳态性能,找出刀具最优组合。结果表明:最佳刀具组合为100齿双刃,其最大应力、最大应变值分别为5.3475×10^(6)Pa、2.6342×10^(-5)m/m,刀具共振频率为243Hz。切割动力学仿真分析表明:刀具在切割外径8mm的树枝时,刀具修剪能量变化均匀,对树枝修剪产生的切割力呈现有规律的曲线,最大切割力为498N。智能园林修剪机器人修剪试验结果表明:修剪刀具在不同的转速下进行园林修剪,呈现出良好的稳态特性,运行平稳,刀齿端磨损较少,无共振现象,达到了设计目标要求。

In view of the continuous expansion of the landscaping area in China,the hedge and landscape trees pruning has become a heavy and time-consuming work,ordinary garden pruning machine pruning efficiency is not high problem,need to perform the steady state characteristics of the garden pruning robot end executive mechanism tool research,and finally achieve the purpose of efficient equipment pruning.This paper expounds the structure,working principle and op-eration method of garden pruning robot.Using ANSYS,we construct the relationship model between stress value and strain value,tool tooth number and blade shape,and then optimize the blade and tool blade to study the steady state per-formance and resonance frequency.Finally,based on the simulation calculation of the Ls-Dyna finite element solution program of ANSYS,the steady-state morphology of the tool pruning process is obtained.The results show that the sec-ondary regression equation model of the number of teeth and the blade mouth shape on the maximum stress and the maxi-mum strain was obtained by Design-Expert software,Identify the best tool combination for 100 tooth double blade,And the maximum stress and maximum strain value are 5.3475×10^(6)Pa respectively,2.6342×10^(-5)m/m,The tool resonance frequency is 243Hz,Simulation and analysis of the cutting dynamics,When cutting the branches with an outer diameter of 8mm,Tool trim energy changes evenly,The cutting force generated by the branch pruning presents a regular curve,The maximum cutting force was 583N.The experimental verification results of the intelligent garden pruning robot show that the pruning tool at different speeds,the tool presents good steady state characteristics,the final molding rate and the expected effect of pruning remain at about 85%,achieving the design target quality requirements.