| With the rapid development of coking industry in China, coking mechanical equipment also meets its higher challenge, that is how to improve the work efficiency, reduce costs, improve the operation environment and reduce the labor intensity. Especially the equipment to cover, uncover and clean oven lid above the coke-oven, because of the severe work environment, is easy broken and hard to be repaired. So improving a cover manipulator equipment with automatic operation is an urgent task. The new cover manipulator can cover-clean-uncover oven lips by itself.This paper studies a new type robot of covering and cleaning oven lips and it’s complex static and dynamic mechanics problems, including it’s bending deformation, torsion deformation and structural vibration. Using the unite-modeling method with Pro/E, HyperMesh and ANSYS, the finite element model of the robot is established. Considering nonlinear contact, the strength, deformation, stress, guide rollers’ pretension force and vibration mode of the robot are calculated. Under different guide rollers’ pretension, the influence on the robot’s bending deformation, torsion deformation, contact stress and the contact status between guide rollers and the vertical track is discussed. Finally, robot vibration modal characteristics are calculated and the characteristics of the robot’s vibration are obtained.The main conclusions in this paper are as follows:(1) The motion system and hydraulic transmission system of this whole robot correspond to the requirements of the transverse, lifting and rotating movement and force transfer. It confirms that the structure of the robot is reasonable.(2) In the modal analysis of this robot, its natural mode of vibration exists bending vibration and torsional vibration. The working frequency of this robot is 0.5Hz～1Hz. It is less than the first natural frequency of 14.88Hz. Therefore, there is no resonance phenomenon among the robot. The running state is steady.(3) Under no guide rollers’pretension force conditions in the robot, the type deformation is mainly bending deformation. But it also has a slight twist deformation at the same time. The maximum stress of the robot is 98.6 MPa and there is no obvious stress concentration phenomenon. Only two pairs of guide rollers have contact force with the vertical track. The contact status is not stable. Therefore, the robot needs to exert guide rollers’pretension force.(4) Under four kinds of guide rollers’ pretension forces conditions in the robot, different pretension forces have different influence on the robot. In consideration of bending deformation, twist deformation, stress and the contact status between guide rollers and the vertical track, this paper chooses 15KN as guide rollers’pretension force.(5) Under 15KN of guide rollers’ pretension force conditions in the robot, the type deformation is mainly bending deformation. But it also has a slight twist deformation at the same time. The maximum stress of the robot is 152 MPa and there is no obvious stress concentration phenomenon. All of four pairs of guide rollers have contact force with the vertical track. The contact status is stability.The main innovation points in this paper are as follows:(1) This paper gets the value and analysis of the robots deformation and stress distribution, and evaluates the robot strength and stiffness.(2) This paper reveals the contact state of guide rollers and points out the bad contact status between guide rollers and the track.(3) This paper proposes a method to design guide rollers’pretension according to the amplitude of deformation and stress and guide rollers’contact status.(4) This paper figures out that the robot’s natural mode of vibration exists bending vibration mode and torsional vibration mode. The first order mode is torsion vibration mode and its first natural frequency is 14.886Hz. That provides dynamic analysis basis for the further improvement of the robot. |
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