| With the rapid development of auto industry and highway,growing demand for radial tire,at the same time quality and precision of the radial tire also put forward higher requirements;Tire robot hand is in green tire grab handle tire billet in the process of forming and vulcanization mechanical device.Analysis shows that on the quality of tire during vulcanization of tire quality issue,there are 25% related to the deformation occurring during robot hand grasping.According to the communication of the technology is introduced,the influence factors of tire uniformity,associated with the robot hand accounted for about 15%.Therefore,grasping tire robot hand have bigger influence on the quality of tire.In the production if the tire deformation size uniformity,deformation account is small,vulcanization of tire uniformity parameter is also small,the tire will have a good quality;On the contrary,if the size of the green tire deformation and in Asymmetry deformation is larger,after vulcanization of tire quality is poorer.Aiming at this problem,based on the 165/65 / R13 model car tires to grab objects,and combined with the practical work requirements,Staring form the dynamic parameters design of robot hand,the structure of the robot hand was optimized under the work requirement,and to grasp the imported into ADAMS virtual prototype for the kinematic simulation analysis,the mechanical hand grasp the agency respectively in the x direction displacement motion simulation curves and velocity and acceleration of the movement cycle simulation curves;Through ADAMS post-processing module within the brace arc plate and the change of the tire blank wheel contact force curve;Finally by ANASYS Workbench to the traditional extraction respectively manipulator and new tires manipulator in the extraction of billet deformation distribution and the deformation amount,this paper compares and analyzes the validation of newextraction manipulator to solve the problem of uneven tire deformation and large deformation of feasibility.Subject of the main research conclusions are as follows:(1)in 165/65 / R13 tire model,for example,using the software of Pro/E optimize and design a new manipulator to grab the tire,based on the existing traditional grasping device,technical research and development of grasping manipulator to grab tire,completed a new tire simulation design of the manipulator,and to simulate a way to determine its feasibility.(2)the new type of inner-grasping mechanism whether meet the 165/65 / R13 model tire was grasped or not,in the X direction,the largest diameter of 6 concentric circles grapple were 330 mm when they stay completely distractions condition,Aiming at the problem of grasp the mechanism of six concentric arcs grappling hooks in the x direction completely open the biggest diameter of 330 mm,motion analysis was made for inner-bracing mechanism using ADAMS software in the process of grasping tire,results show that the mechanism can meet the requirement of grasping tier.(3)contact force analysis were made for outside-supporting mechanism by means of ADAMS software in the process of grasping tire,the analysis results show that the outside-supporting mechanism and tire surface is formed by the contact force of pressure is greater than 165/65 / R13 model tire weight,the new type of grasping mechanism meets the requirements.(4)the stress analysis and deformation analysis of the green tire were made by the finite element flexible analysis method,the simulation results are compared and verified.The results indicate that:he new type of grasping tire robot hand meets the requirements and the influence on the deformation of the green tire is smaller than the traditional tire grasping robot hand. |
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