Research On Dynamic Simulation Of Large Tire Manipulator

Tires of large-scale mining electric wheeled trucks are easy to break down due to heavy load and high frequency of brake in complicated working environment. However, changing tires by manpower means high labor intensity and limited efficiency. What's more, lots of accidents occur during tire replacement. Thus, tire-replacing robot, which is the special equipment to change tires rapidly, is necessary.A tire-replacing robot consisted of a tire manipulator and a chassis (wheel loader or forklift, e.g.) can be used in mounting, dismantling, transporting and stacking tires of large-scale mining electric wheeled trucks. Care should be taken to whether the clamping force by hydraulic cylinder, the driving torque by hydraulic motor and the mechanical strength are all enough during holding tires with maximum mass.First of all,3-D models of each part have been built up and assembled into a virtual prototype. And then, the model is loaded into the multi-body dynamic analysis software to generate a rigid-flexible coupled model through the interface of parasolid. Dynamic simulation on three working types has been carried out according to the working condition while the manipulator clamp tires with the maximum diameter. Focus is fixed on influence on clamping force and force condition on the contact between clamping arm and link rod, by the angular velocity and angular body acceleration of the claw. The destination is to check whether the driving torque of hydraulic motor and the strength of link rod are all enough.Secondly, in order to check the strength of link rod, we carried out a finite element analysis on the link rod, using load profiles from dynamic simulation. Stress contour and relationship between stress and load are obtained, as well as force condition, stress condition and deformation at any time. Finally, conclusions are given at the end of this article. a) The thrust force by hydraulic cylinder can meet the demand of clamping force at working conditions. b) The hydraulic motor with a reducer can meet the demand of driving torque at working conditions. c) The rotation of body can affect the clamping force, hinging force at the hinged point and driving torque of hydraulic motor significantly. d) The finite element analysis has been carried out on the link rod with maximum force, based on dynamic simulations of the rigid-flexible coupled model. And thus, the relationship between stress and load on the link rod is obtained. As a result, it is confirmed that the link rod can meet the demand of strength.The contribution of this work is to provide a design progress and simulation analysis of the tire manipulator, and to propose an outlook for the future research.