煤矿搬运机械手及其控制系统设计与实现  

The Design of Coal Mine Manipulator and its Control System

作　　者：蒋贤海[1] 谌小平[1] JIANG Xian-Hai;CHEN Xiao-Ping(Guangdong Technical College of Water Resources and Electric Engineering,Guangzhou Guangdong 510925,China)

机构地区：[1]广东水利电力职业技术学院

出　　处：《机电产品开发与创新》2019年第2期79-80,共2页Development & Innovation of Machinery & Electrical Products

基　　金：广东省一流高职科研平台建设项目(cy0603yb01);创新强校工程自然科学项目(cy060402z05)

摘　　要：根据工业自动化生产加工的要求,设计了一四自由度的煤矿搬运机械手及其控制系统。给出了机械手设计本体结构,对液压回路进行了优化设计,并完成了机械手控制软件设计与开发。通过仿真验证了所开发的控制系统运行可靠平稳,能够灵活地实现机械手抓取物体、旋转、伸缩及升降等运动,满足煤矿搬运要求。A manipulator with four free degrees and its control system are designed according to the requirement of automatic production in the industry. Firstly,the structure of the manipulator is given in the paper,and then the optimal design of the hydraulic circuit is put forward,last the control software of the manipulator is completed. The experiment results show that the proposed system is stable and reliable,it can implement the movement of grasping,rotating,telescopic and lifting,etc.,and it also can improve productivity and meet the requirement of production.

关 键 词：机械手 液压回路 控制系统 设计 

分 类 号：TD63[矿业工程—矿山机电]