Design of a container grabbing and lifting mechanism for equipping a robotic wheeled chassis

Abstract

This article presents the results of designing a mechanism for grabbing, lifting and holding a container with which it is supposed to equip a robotic wheeled chassis with an apple harvesting module in an industrial garden. The technical solutions used in agricultural engineering for lifting and holding operations of various types of loads weighing from 300 kg were analyzed, their design and technical features were considered. As a result of the analysis, based on the criteria of compactness and metal consumption, the most preferred variant of the lifting mechanism was selected - a parallelogram lifting mechanism driven by electric cylinders. In order to fulfill the conditions of structural strength of the mechanism for gripping and lifting the container, a strength calculation of the structure was carried out, and also the necessary characteristics of the electric cylinder for the mechanism for lifting the container and the paws for the mechanism for lifting the paws were determined. The main load in the structure is carried by the upper horizontal guides, vertical racks and lower grips. As a result of the analysis, zones of maximum stress and strain concentration were established. The loading of the lower gripper parts occurs with a force directed vertically downward with a force of 1750 H. The highest voltage was about 169 MPa, which ensures sufficient strength of the part with a margin of 3 times, the maximum movements of the guides are 1.6 mm.