Design And Research Of Tire Vulcanization Grab Device

In the field of tire manufacturing,there are still many aspects to be improved in the process of tire loading and unloading in tire vulcanization.One is that in the process of tire vulcanization,the tire scrap rate is too high due to the local deformation or the reduction of overall uniformity of the tire caused by the manual assisted mechanical handling of the tire or the grasping of the tire blank by the tire handling manipulator;the other is that the tire scrap rate is too high due to the enterprise's Demand,the production mode of the artificial auxiliary machinery adopted by the enterprise is low in efficiency and high in production cost.From the perspective of the whole tire production field,most of the current handling manipulators for tire vulcanization are cylindrical coordinate manipulators with low working efficiency.In view of the above two problems,this paper takes 205/60R16 automobile tire as the research object,combined with the needs of cooperative units,mainly engaged in the following research:(1)According to the requirements of the cooperative units and the loading and unloading process of the tire in the tire curing process,this paper designs a joint type tire curing grab device.In order to make the tire evenly stressed and avoid the side deflection of the tire and the damage to the tire caused by the excessive local stress,especially the structural design of the grab device of the end actuator is carried out,and the tire is established by using the Pro/E three-dimensional drawing software The three-dimensional model of each part of the vulcanization grabbing device is assembled into a whole three-dimensional model,and preliminary The clamping force of the device to the tire is calculated.(2)The method of coordinate transformation is used to analyze the kinematics of the tire vulcanization grabbing device.Firstly,the connecting rod coordinate system ofthe tire vulcanization grabbing device is established and the coordinate transformation matrix is solved.The forward and inverse kinematics solutions of the tire vulcanization grabbing device are calculated by D-H method.The forward and inverse solution function expressions are simulated by MATLAB to verify the correctness of the forward and inverse solutions The track planning of tire vulcanization grabbing device has laid the foundation.(3)In order to realize the precise control of tire vulcanization grabbing device,the method of linear interpolation and circular interpolation is used to plan the path of tire vulcanization grabbing device,and the path is solved by MATLAB simulation software.S-type acceleration and deceleration control algorithm is used for speed planning,and MATLAB software is used to program and calculate the planned speed,acceleration and acceleration curve,so as to realize that the end of the tire vulcanization grab device operates at a reasonable speed and track,so as to reduce vibration and impact.(4)Lagrange equation method is used to establish the dynamic equation of the tire vulcanization grabbing device,and ADAMS software is used to carry out simulation experiments to solve the generalized driving force that the driver of the tire vulcanization grabbing device must provide to each active joint and the forces on each joint in the X,Y,Z directions with time changes under the planned trajectory operation,and to drive the electricity for each joint The reasonable selection of the machine provides a reference to verify the rationality of the trajectory planning,and provides theoretical support for the dynamic control of the tire vulcanization grabbing device.(5)Based on the ANSYS Workbench finite element simulation software,the static analysis of the tire vulcanization grab device is carried out.In order to avoid the occurrence of resonance,the sixth mode of the end effector under prestress is analyzed.In order to test the working performance of the tire vulcanization grabbing device,the nonlinear static finite element analysis of the vulcanized tire was carried out.The stress and deformation of the vulcanized tire during the grabbing process were simulated to verify the structural reliability and design rationality of the tire vulcanization grabbing device.In this paper,the following conclusions are obtained: first,the track planning speed and acceleration of the tire vulcanization grabbing device are reasonable,whichcan effectively reduce the mechanical impact;second,the driving torque of the joint and the force change in the X,Y and Z directions are stable,which verifies the rationality of the structure and track planning of the tire vulcanization grabbing device;third,the designed tire vulcanization grabbing device The stiffness and strength of the structure meet the requirements,and the clamping force and the inertia force of the tire when the tire is clamped and running do not cause damage to the tire.The tire vulcanization grab device studied in this paper can effectively improve the working efficiency and reduce the tire scrap rate.