本文選題：抓胎機(jī)械手 + 結(jié)構(gòu)優(yōu)化��； 參考：《青島科技大學(xué)》2017年碩士論文

【摘要】：抓胎機(jī)械手是在胎坯成型和硫化過程中抓取搬運(yùn)胎坯的機(jī)械化裝置[1]。有關(guān)輪胎質(zhì)量的分析表明:在硫化過程中出現(xiàn)的輪胎質(zhì)量問題,有25%與機(jī)械手抓取時(shí)產(chǎn)生的變形有關(guān)。根據(jù)日本神戶制鋼所的技術(shù)交流介紹,在影響輪胎均勻性的因素中,與機(jī)械手有關(guān)的占15%左右[2-3]。由此可見,機(jī)械手在胎坯抓取過程中,對(duì)輪胎質(zhì)量的影響較大。生產(chǎn)中如果胎坯變形尺寸均勻、變形量較小,則硫化后輪胎的均勻性參數(shù)也較小,表明輪胎質(zhì)量好;相反,如果胎坯變形尺寸不均勻且變形量較大,則硫化后的輪胎質(zhì)量較差。針對(duì)此問題,本文以165/65/R13型號(hào)汽車輪胎為抓取對(duì)象,并結(jié)合實(shí)際工作要求,從抓胎機(jī)械手動(dòng)力學(xué)參數(shù)設(shè)計(jì)角度出發(fā),用Pro/E優(yōu)化設(shè)計(jì)出了新型內(nèi)抓外撐抓胎機(jī)械手,并將內(nèi)抓機(jī)構(gòu)導(dǎo)入到ADAMS虛擬樣機(jī)進(jìn)行了運(yùn)動(dòng)仿真分析,分別得到機(jī)械手內(nèi)抓機(jī)構(gòu)在x方向的位移運(yùn)動(dòng)仿真曲線和不同運(yùn)動(dòng)周期的速度、加速度的仿真變化曲線;通過ADAMS后處理模塊得到外撐弧形薄板與胎坯胎面接觸力的變化曲線;最后通過ANASYS Workbench分別對(duì)傳統(tǒng)抓胎機(jī)械手和新型抓胎機(jī)械手在取胎時(shí)胎坯的變形分布及變形量大小進(jìn)行對(duì)比驗(yàn)證,驗(yàn)證新型抓胎機(jī)械手對(duì)解決胎坯變形不均勻和變形量大問題的可行性。課題的主要研究結(jié)論如下:(1)以165/65/R13型號(hào)輪胎為例,利用三維制作Pro/E軟件進(jìn)行了參數(shù)化新型抓胎機(jī)械手的模型設(shè)計(jì),以存在的傳統(tǒng)抓胎裝置為基礎(chǔ),進(jìn)行抓胎機(jī)械手的技術(shù)研發(fā)設(shè)計(jì)論證及優(yōu)化,完成了新型抓胎機(jī)械手的模擬設(shè)計(jì),并以模擬方式確定了其可行性。(2)新型抓胎機(jī)械手的內(nèi)抓機(jī)構(gòu)若實(shí)現(xiàn)165/65/R13型號(hào)輪胎胎坯的順利抓取,內(nèi)抓機(jī)構(gòu)的6個(gè)同心圓弧形抓鉤在局部x方向完全撐開時(shí)最大直徑需達(dá)到輪轂直徑330mm,針對(duì)此要求驗(yàn)證,采用ADAMS對(duì)內(nèi)抓機(jī)構(gòu)虛擬樣機(jī)進(jìn)行運(yùn)動(dòng)學(xué)仿真分析,結(jié)果顯示新型內(nèi)抓機(jī)構(gòu)能滿足抓胎要求。(3)利用ADAMS分析軟件,對(duì)外撐機(jī)構(gòu)和胎坯胎面的接觸力進(jìn)行研究分析,分析結(jié)果表明:外撐機(jī)構(gòu)與胎坯胎面的接觸正壓力所形成的摩擦力大于165/65/R13型號(hào)輪胎自重,能夠?qū)崿F(xiàn)輪胎的提取和搬運(yùn)。(4)利用有限元分析軟件ANSYS Workbench分別對(duì)三種抓取方式進(jìn)行變形分析,結(jié)果表明:新型抓胎機(jī)械手與傳統(tǒng)抓胎機(jī)械手相比,對(duì)胎坯存在的變形不對(duì)稱和變形量大的問題均有明顯改善。
[Abstract]:The tire manipulator is a mechanized device that grabs and carries the tire during the forming and vulcanizing process. The analysis of tire quality shows that 25% of the tire quality problems in vulcanization process are related to the deformation caused by manipulator grasping. According to the technical exchange of Kobe Steel Institute of Japan, about 15% of the factors affecting tire uniformity are related to manipulator [2-3]. It can be seen that the manipulator has a great effect on tire quality in the process of fetching the tire billet. In production, the uniform parameters of tire after vulcanization are smaller if the deformation size of tire is uniform and the amount of deformation is small, which indicates that the tire quality is good; on the contrary, if the deformation size of tire billet is uneven and the amount of deformation is large, the tire quality after vulcanization is poor. Aiming at this problem, this paper takes 165/65/R13 type automobile tire as grab object and combines with practical work requirements, from the angle of dynamic parameter design of tire grab manipulator, optimizes the design of a new type of inner and outer bracing tire grab manipulator with Pro/E. The internal grab mechanism is introduced into the ADAMS virtual prototype for motion simulation analysis, and the displacement simulation curve in x direction and the simulation change curve of velocity and acceleration in different motion periods are obtained respectively. Through ADAMS post-processing module, the curve of contact force between outer braced arc sheet and tire tread was obtained. Finally, through ANASYS Workbench, the deformation distribution and deformation amount of the tire billet are compared and verified between the traditional and the new tire manipulator. The feasibility of the new tire manipulator to solve the problem of uneven deformation and large deformation of tire billet is verified. The main research conclusions are as follows: (1) taking 165/65/R13 tire as an example, the model design of a new parameterized tire manipulator is carried out by using Pro/E software, which is based on the existing traditional tire grab device. Through the demonstration and optimization of the technology development and design of the tire grab manipulator, the simulation design of the new type of tire grab manipulator has been completed. The feasibility of this mechanism is determined by simulation. 2) if the inner grasping mechanism of a new type of tire manipulator is realized, if the 165/65/R13 tire tire is grabbing smoothly, The maximum diameter of the six concentric arc grab hooks in the internal grab mechanism needs to reach 330 mm when the local x direction is completely open. In order to verify this requirement, the kinematics simulation analysis of the virtual prototype of the internal grab mechanism is carried out by using ADAMS. The results show that the new internal grab mechanism can meet the requirements of tire drawing. (3) the contact force between the external bracing mechanism and the tire tread is studied and analyzed by using ADAMS software. The results show that the friction formed by the positive contact pressure between the outer bracing mechanism and the tire tread is greater than the weight of the 165/65/R13 tire. The deformation analysis of three kinds of grasping methods is carried out by using the finite element analysis software ANSYS Workbench. The results show that the new tire grab manipulator is compared with the traditional tire grab manipulator. The problems of asymmetric deformation and large amount of deformation are obviously improved.
【學(xué)位授予單位】：青島科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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本文編號(hào)：1820514