| Intelligentization and remanufacturing technologies have gradually become the means to solve the development bottleneck caused by the aging population and resource shortage in the current industry.The combination of the two technologies will also become an important measure to promote the development of economic cycles and reduce labor intensity and production costs..Based on the background of remanufacturing,this paper takes the bolt disassembly on the slag-locking ball valve,a typical equipment in the coal chemical industry,as the research object,and designs an industrial robot for ball valve bolt disassembly,and the structural strength of the bolt disassembly industrial robot,Kinematics,workspace,trajectory planning,dynamics and other aspects of related theories and simulation analysis.The main contents of this paper are as follows:First,in order to determine the design parameters of the system,combined with the characteristics of the bolts of the G1610 slag lock ball valve,the disassembly requirements were analyzed,and the modified FASTORQ hydraulic wrench was used as the end effector of the disassembly robot.In the case of comparing and analyzing the advantages and disadvantages of each robot configuration,combined with the disassembly process requirements,it is determined that the robot configuration to be designed is a six-degree-of-freedom joint industrial robot.At the same time,it is based on the ball valve size and working conditions and with reference to the mainstream industrial robots on the market.Based on this,the design parameters of the system are determined.Secondly,in order to complete the structural design of the system,combined with the design parameters of the disassembly robot,a general design method was used to carry out detailed design and selection of the joint components,transmission structure,motor deceleration,etc.of the disassembly robot,and the use of CAXA entity design software Carry out three-dimensional modeling of the designed disassembly robot prototype.The finite element simulation analysis of the key components of the prototype,namely the boom and forearm,was carried out on the Workbench platform,and the reliability of the structural design strength was verified.At the same time,for the offline disassembly process,the design of the matching ball valve fixture was completed.Afterwards,for the rationality of the physical parameters of the dismantling robot designed for truth verification,a kinematic model of the dismantling robot was established based on the DH method and the analytical solutions of forward kinematics and inverse kinematics were derived for the designed dismantling robot based on the DH method.The Robotic Toolbox in MATLAB simulates the kinematics model and the forward and inverse solutions;through the Jacobian matrix of the robot,the linear relationship between the joints and the ends of the disassembly robot is established,and the Monte Carlo method is used to obtain the disassembly robot.Workspace area.Finally,in order to ensure the feasibility of the movement of the designed disassembly robot,according to the disassembly process path,two kinds of trajectory planning based on the characteristics of the disassembly process path-linear interpolation and fifth-order polynomial interpolation algorithm trajectory planning are analyzed.The Robotic Toolbox toolbox simulates the two trajectories,and obtains the displacement,velocity,and acceleration of each joint under two different running trajectories;derives the dynamic equation based on Lagrange,combines the dynamic parameters of the dismantling robot,and analyzes the dynamics The parameter characteristics of each coefficient in the equation,in the dynamic simulation process,the motion path in the trajectory planning simulation is imported into ADAMS for dynamic simulation,and the torque curve of each joint in the simulation motion process is obtained.Through the design and simulation of the bolt disassembly robot,the rationality and reliability of the design scheme is determined,and the requirements of the bolt disassembly of the ball valve are met. |
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