曲柄摇臂式开槽机械臂设计与分析  

Design and Analysis of Crank-rocker Type Slotting Robotic Arm

作　　者：焦宏章 Jiao Hongzhang(Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030006,China;CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030006,China)

机构地区：[1]山西天地煤机装备有限公司,太原030006 [2]中国煤炭科工集团太原研究院有限公司,太原030006 [3]煤矿采掘机械装备国家工程实验室,太原030006

出　　处：《煤矿机械》2025年第3期20-23,共4页Coal Mine Machinery

基　　金：国家重点研发计划项目(2022YFB4703600);山西省专利转化专项计划项目(202305002);天地科技股份有限公司项目(2023-TD-MS002);天地科技股份有限公司重点项目(2023-TD-ZD013-001)。

摘　　要：针对现有开槽机的不足,设计了一种曲柄摇臂式开槽机械臂,应用动力学仿真软件MSC.ADAMS建立了其动力学仿真模型,获得了主臂最大速度为11.75°/s、最大转矩为136.97 kN·m,变幅油缸最大推进速度为71.65 mm/s、最大推力为204.2 kN,得到了机械臂关键铰接点的受力响应,据此完成了主臂驱动减速器、变幅油缸、关键联接销轴的设计和选型。Aiming at the shortcomings of existing slotting machine,a crank-rocker type slotting and robotic arm was designed,the dynamic simulation model was established by using the dynamic simulation software MSC.ADAMS,obtained that the maximum speed of the main arm is 11.75°/s,the maximum torque is 136.97 kN·m,the maximum advance speed of the variable amplitude cylinder is 71.65 mm/s,the maximum thrust is 204.2 kN,the force response of the key hinge point of the manipulator was obtained.Based on this,the design and selection of main arm drive reducer,variable amplitude cylinder and key connection pin were completed.

关 键 词：曲柄摇臂 开槽机械臂 开槽 变幅油缸 

分 类 号：TD402[矿业工程—矿山机电]