立柱式工业机器人设计与分析  

Design and Analysis of Column-type Industrial Robot

作　　者：王兆国 王玉宝 周杰[1,2] 邓海顺 Wang Zhaoguo;Wang Yubao;Zhou Jie;Deng Haishun(College of Mechanical and Electrical Engineering,Anhui University of Science and Technology,Huainan 232001,China;Anhui Intelligent Mine Technology and Equipment Engineering Research Center,Huainan 232001,China;Zhongke Photoelectric Color Sorting Machinery Co.,Ltd.,Hefei 231200,China)

机构地区：[1]安徽理工大学机电工程学院,安徽淮南232001 [2]安徽智能矿山技术与装备工程研究中心,安徽淮南232001 [3]中科光电色选机械有限公司,合肥231200

出　　处：《煤矿机械》2025年第3期1-4,共4页Coal Mine Machinery

基　　金：安徽智能矿山技术与装备工程研究中心开放基金项目(AIMTEEL-202204)。

摘　　要：为解决目前煤厂人工效率低、工人劳动强度大及煤粉尘对工人健康危害严重的问题,设计了一种立柱式工业机器人。该机器人由立柱回转横臂平移机构、吊装机构、机械抓手等部分组成。对吊装机构中链条末端在横臂的固定位置进行设计计算,利用Workbench和ADAMS软件分别完成对结构的静力学和运动学分析。试验表明,该机器人能够降低工人劳动强度、提高生产效率,具有推广应用价值。In order to solve the problems of low labor efficiency,high labor intensity of workers and serious harm to the health of workers caused by coal dust in coal plant,a column-type industrial robot was designed.This robot is composed of a column rotary crossarm translation mechanism,a hoisting mechanism,a mechanical gripper and other parts.The fixed position of the chain end in the hoisting mechanism in the cross arm was designed and calculated,and the static and kinematic analysis of the structure were completed by using Workbench and ADAMS software respectively.The tests show that this robot can reduce the labor intensity of workers and improve production efficiency,which has promotion and application value.

关 键 词：立柱式 工业机器人 结构设计 静力学分析 运动学分析 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]