Design And Reliability Analysis Of General Interface Structure Of Multifunctional Brokk Robot's Tool Head

The research that refers to the key basic problems in the construction of machinery engineering can improve the disposal capacity of the decommissioned nuclear facilities in China.According to the shortcomings such as single interface,poor reliability,the research that on the common interface of multi-functional robot's tool head is carried out in this paper.Taking nuclear robot as the research object,the robot with multi-functional performance is designed by using Pro/E software in the nuclear environment.Statistic analysis and modal analysis of tool head interface are carried out by finite element software ANSYS.Then the simulation software ADAMS is used to simulate the motion of the head interface of the actual working tool,and get the dynamic analysis.Finally,the tool head interface is parameterized by ANSYS finite element software,and the reliability of the structure is analyzed.The specific research contents are as follows:(1)First of all,three-dimensional structure of tool head interface should be designed by analyzing the working size and operating range of the tool head interface,and the selection in high strength/mass ratio material,the working principle and hinge connection in the structure of tool head interface.By selecting tool head type and checking the model hinge strength,the initial model of the tool head interface is established.(2)From the theory of static mechanics,the reliability of the model is analyzed by finite element software ANSYS that analyze the tool head interface structure and get the stress cloud and maximum deformation.(3)Based on the theory of mechanical vibration,this paper introduces the forced vibration of the modal analysis in the multi-degree of freedom system,and uses the mechanical vibration principle and method.The finite element software ANSYS is used to analyze the harmonic response of the tool head interface.The first 6-order mode of the tool head interface is extracted,and the natural frequency is compared with the excitation frequency.By contrast,the lowest frequency is much larger than the applied excitation frequency,and the structure of tool head interface is very small and should be designed better.(4)Based on the theory of kinematics and dynamics,the simulation software ADAMS is used to simulate the dynamics of the tool head interface by carrying the hydraulic hammer to hit block.Simulation in tool head interface force,speed,displacement changes are compared with each other to improve the performance of the tool head interface.(5)In order to verify the reliability of the tool head interface,the reliability module of ANSYS is used to parameterize the selected parameters,and the response surface method is also used to analyze the effect of the input parameters on the deformation of the output parameters in the tool head interface.The analysis of research shows that the tool head interface designed in this paper has a good versatility and good connection performance.Through the remote control device,it can improve high-intensity operation capability in the nuclear emergency environment.