The Topology Optimization Design Of Liner Replacement Manipulator On Mill

The liners are one of the largest parts in the Ball mill system,and they are also the most worn parts.The replacement of the liners by hand take a long time,labor intensity and security risks,which seriously affect the efficiency of the ball mill.So,in order to improve the operation efficiency and economic benefits,it is of great significance to develop a stable and reliable liner replacement manipulator for the replacement of the liners on ball mill.The paper made a topology optimization design on the liner replacement manipulator for the 4.8m diameter ball mill.Finally,a new structure is obtained and verified by simulation analysis.The main works of this paper are as follows.(1)This paper analyzed the principle and composition of the liner replacement manipulator,designed the main technical parameters and different conditions under the maximum load.By comparing the all working conditions,know the working condition two,three and four were the more dangerous conditions,and the static simulation was carried out for these three working conditions to determine the dangerous condition.At the same time,in order to determine the components which have a great influence on the deflection of the whole manipulator,the paper also had a analysis of the deflection on the main components of lifting arm and claw.The results showed that: the working condition three,which the liners located farthest from the manipulator and at the minimum position of the angle of elevation,was the dangerous working condition,because The stress and deformation of the corresponding working condition 3 are the largest;under the dangerous working condition,the maximum deformation was 7.7132 mm,indicated the deflection was too large,the stiffness was not enough;Moreover,the lifting arm and claw had a larger influence on the deflection of the whole machine.The conclusion will indicate the direction for the optimization design of liner replacement manipulator in the next.(2)In the software Optistruct,the optimization module of Hyperworks,based on SIMP topology optimization model,and using the way of the volume fraction as the constraint and the minimum flexibility as the target,the paper got a new structure by the topology optimization design for the two parts of the he liner replacement manipulator: lifting arm and claw.Finally,the stiffness of the whole manipulator is verified under the dangerous condition.The results showed that: after the topology optimization design,the deflection of the whole machine reduced to 4.2275 mm,and the stress was less than the allowable stress value of the material,and the reliability was improved.(3)With the dangerous condition,the modal analysis and transient analysis of the optimized manipulator were done,and the results were compared with the outcome without optimization,and the movement simulation was done in the modular of Solidworks Motion.The results showed that: after topology optimization design,the machine' s first two order natural frequency had improved,which will avoid the occurrence of resonance effect in low frequency interference;under the transient load,the whole machine achieve a stable state after 1.6s before optimization design,while after the optimization design,it only need 0.8s to reached a stable state,which showed that the time is shortened and the stability of the whole machine is improved;the displacement,velocity and acceleration curves transition are smoothly in the process of motion simulation,which indicated that there is no interference between parts,and the topology optimization design is reasonable.