新型抓胎机械手夹持机构的结构优化及动作分析

发布时间：2018-04-29 15:27

本文选题：抓胎机械手 + 结构优化　；参考：《青岛科技大学》2017年硕士论文

【摘要】：抓胎机械手是在胎坯成型和硫化过程中抓取搬运胎坯的机械化装置[1]。有关轮胎质量的分析表明:在硫化过程中出现的轮胎质量问题,有25%与机械手抓取时产生的变形有关。根据日本神户制钢所的技术交流介绍,在影响轮胎均匀性的因素中,与机械手有关的占15%左右[2-3]。由此可见,机械手在胎坯抓取过程中,对轮胎质量的影响较大。生产中如果胎坯变形尺寸均匀、变形量较小,则硫化后轮胎的均匀性参数也较小,表明轮胎质量好;相反,如果胎坯变形尺寸不均匀且变形量较大,则硫化后的轮胎质量较差。针对此问题,本文以165/65/R13型号汽车轮胎为抓取对象,并结合实际工作要求,从抓胎机械手动力学参数设计角度出发,用Pro/E优化设计出了新型内抓外撑抓胎机械手,并将内抓机构导入到ADAMS虚拟样机进行了运动仿真分析,分别得到机械手内抓机构在x方向的位移运动仿真曲线和不同运动周期的速度、加速度的仿真变化曲线;通过ADAMS后处理模块得到外撑弧形薄板与胎坯胎面接触力的变化曲线;最后通过ANASYS Workbench分别对传统抓胎机械手和新型抓胎机械手在取胎时胎坯的变形分布及变形量大小进行对比验证,验证新型抓胎机械手对解决胎坯变形不均匀和变形量大问题的可行性。课题的主要研究结论如下:(1)以165/65/R13型号轮胎为例,利用三维制作Pro/E软件进行了参数化新型抓胎机械手的模型设计,以存在的传统抓胎装置为基础,进行抓胎机械手的技术研发设计论证及优化,完成了新型抓胎机械手的模拟设计,并以模拟方式确定了其可行性。(2)新型抓胎机械手的内抓机构若实现165/65/R13型号轮胎胎坯的顺利抓取,内抓机构的6个同心圆弧形抓钩在局部x方向完全撑开时最大直径需达到轮毂直径330mm,针对此要求验证,采用ADAMS对内抓机构虚拟样机进行运动学仿真分析,结果显示新型内抓机构能满足抓胎要求。(3)利用ADAMS分析软件,对外撑机构和胎坯胎面的接触力进行研究分析,分析结果表明:外撑机构与胎坯胎面的接触正压力所形成的摩擦力大于165/65/R13型号轮胎自重,能够实现轮胎的提取和搬运。(4)利用有限元分析软件ANSYS Workbench分别对三种抓取方式进行变形分析,结果表明:新型抓胎机械手与传统抓胎机械手相比,对胎坯存在的变形不对称和变形量大的问题均有明显改善。
[Abstract]:The tire manipulator is a mechanized device that grabs and carries the tire during the forming and vulcanizing process. The analysis of tire quality shows that 25% of the tire quality problems in vulcanization process are related to the deformation caused by manipulator grasping. According to the technical exchange of Kobe Steel Institute of Japan, about 15% of the factors affecting tire uniformity are related to manipulator [2-3]. It can be seen that the manipulator has a great effect on tire quality in the process of fetching the tire billet. In production, the uniform parameters of tire after vulcanization are smaller if the deformation size of tire is uniform and the amount of deformation is small, which indicates that the tire quality is good; on the contrary, if the deformation size of tire billet is uneven and the amount of deformation is large, the tire quality after vulcanization is poor. Aiming at this problem, this paper takes 165/65/R13 type automobile tire as grab object and combines with practical work requirements, from the angle of dynamic parameter design of tire grab manipulator, optimizes the design of a new type of inner and outer bracing tire grab manipulator with Pro/E. The internal grab mechanism is introduced into the ADAMS virtual prototype for motion simulation analysis, and the displacement simulation curve in x direction and the simulation change curve of velocity and acceleration in different motion periods are obtained respectively. Through ADAMS post-processing module, the curve of contact force between outer braced arc sheet and tire tread was obtained. Finally, through ANASYS Workbench, the deformation distribution and deformation amount of the tire billet are compared and verified between the traditional and the new tire manipulator. The feasibility of the new tire manipulator to solve the problem of uneven deformation and large deformation of tire billet is verified. The main research conclusions are as follows: (1) taking 165/65/R13 tire as an example, the model design of a new parameterized tire manipulator is carried out by using Pro/E software, which is based on the existing traditional tire grab device. Through the demonstration and optimization of the technology development and design of the tire grab manipulator, the simulation design of the new type of tire grab manipulator has been completed. The feasibility of this mechanism is determined by simulation. 2) if the inner grasping mechanism of a new type of tire manipulator is realized, if the 165/65/R13 tire tire is grabbing smoothly, The maximum diameter of the six concentric arc grab hooks in the internal grab mechanism needs to reach 330 mm when the local x direction is completely open. In order to verify this requirement, the kinematics simulation analysis of the virtual prototype of the internal grab mechanism is carried out by using ADAMS. The results show that the new internal grab mechanism can meet the requirements of tire drawing. (3) the contact force between the external bracing mechanism and the tire tread is studied and analyzed by using ADAMS software. The results show that the friction formed by the positive contact pressure between the outer bracing mechanism and the tire tread is greater than the weight of the 165/65/R13 tire. The deformation analysis of three kinds of grasping methods is carried out by using the finite element analysis software ANSYS Workbench. The results show that the new tire grab manipulator is compared with the traditional tire grab manipulator. The problems of asymmetric deformation and large amount of deformation are obviously improved.
【学位授予单位】：青岛科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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