Design And Optimization On Single Worm Double Worm Gear Reducer For Pipe Fetching Manipulator

Drill intellectualization and automation under the background of drilling technology development has become an important symbol of modern drill design.Arranging the organization vertical pipe with accurate order and put to the next operating point,is similar to artificial operation process.Under this requirement,the space of planar mechanism with a great superiority of various institutions-mechanical grab has come into the field.(1)According to the topic of automated drilling requirements,determine the robot hand grasping institutions.Finish the design of the structure,including the reducer,the frame structure of the manipulator and slip calculation,finish the 2D and 3D drawing of the model.(2)As the subject of the control performance requirements are higher,need to try to reduce the box quality to improve the system control performance.The finite element analysis of the box is carried out by ANSYS software,and the strength of the box is verified.On the basis of this,the material selection and the structure of the box are optimized to reduce the quality of the box.The optimization result is reduce by 67.9%.The stress and strain of the box are increased,but still within the allowable range of the material,and there is a certain strength reserve.(3)In order to meet the compactness of the structure and the stability of the grasping action,it is an effective means to improve the load carrying capacity of the reducer in the case of the smaller size of the reducer.The contact force of the worm gear is also analyzed by ANSYS,and the bearing capacity is optimized from the choice of material and the way of the worm gear.The stress from the tooth root line and the top line and the whole tooth Strain analysis.The results show that the maximum stress is reduced by 7.2% and the maximum strain is reduced by 16.3%.The stress and strain area is obviously reduced and the concentrated stress distribution area is obviously reduced.(4)Due to the structure of the double-worm movement,to improve the efficiency of the crawler on both sides of the movement of the worm should be consistent,improve the accuracy of the crawler.The synchronization of the worms on both sides of the worm is studied by introducing the model into ADAMS using the relevant matching interface of UG.The results show that the torque output of both sides of the worm wheel is better and can meet the requirements of the project.The significance of this paper is to improve the bearing capacity of the reducer by limiting the design of the double worm gear deceleration and reducing the volume of the reducer.