Structural Design And Performance Analysis Of Large Tire Disassembly Manipulator

Traditional large-scale mining vehicle tire dismounting robots need to be combined with other machinery,which invisibly increases the man-hours and workload of tire disassembly and increases the risk.In order to realize China Manufacturing 2025,in order to respond to the implementation of major national intelligent manufacturing innovation projects,improve the ability to innovate in the field of robotics.Based on the previous human tire dismantling manipulator,this paper relies on the relevant structural design theory and uses virtual prototype simulation technology as the means and verification method.A new structure of a large mining vehicle tire dismantling manipulator was designed,and kinematics,dynamics and finite element analysis were carried out to obtain performance simulation data such as stress,strain and modal harmonic response,and the structure was verified to be reasonable and feasible.First of all,this paper analyzes several working conditions and working environment of large-scale mining vehicle tire disassembly manipulators,and uses the frame method of modern design methodology to select and design the power source and mechanism in the design process.Use Solidworks to build a 3D model of the part,then assemble it,and repeatedly check,verify,modify to the model and analyze its motion principle.It laid the foundation for the following kinematics and dynamics simulation.Secondly,based on the theoretical mechanics spatial force balance equation as the theoretical basis,the stability and motion analysis of the whole machine stability are calculated,and the driving load application for the dynamic analysis is prepared,and the weight value is calculated.The multi-body dynamics model and the contact model of the whole machine are established to prepare for the model establishment of the following dynamics analysis.Thirdly,the ADAMS virtual prototype is used to simulate the kinematics of the tire disassembling robot under different working conditions of the tire,and verify that the designed mechanism can complete the expected action.Then the dynamics simulation is carried out,and the contact force at the corresponding position is measured,which is in contrast with the previous force analysis,and provides a theoretical basis for the load application in the pre-processing stage in the finite element analysis.Finally,in the Ansys Workbench virtual prototype,the finite element analysis of key components such as robot grip,beam A,beam B,shoe F,flip beam and base frame is carried out to find the maximum stress and deformation value of each component for subsequent The strength check is fully prepared.Through the strength check,verify that the structure and materials are in accordance with the conditions of use.Then the modal analysis of the whole machine is carried out to find out the vibration pattern of the first 10 steps,which provides an important reference for the stability and structural optimization of the whole machine.The response analysis of the pedestal of the three rotating parts of the beam A,the beam B and the support is carried out,and the displacement modes of the X,Y and Z axes are found,which provides an important basis for the analysis of the rotation structure and the stability of the whole machine.The paper has 68 figures,17 tables and 77 references.