球磨机盖开闭机器人设计

Design of Ball Mill Cover Opening and Closing Robot

本研究针对球磨机开盖闭盖工作,设计出一款球磨机盖开闭机器人,在进行方案设计时,通过对比螺栓拧紧力矩控制方法,球磨机盖上螺栓的力矩拧紧控制方法选用转角控制法。使用Workbench对球磨机盖上螺栓拧紧顺序进行仿真,对比不同顺序下球磨机盖和螺栓的变形量大小,确定在同时拧紧情况下,球磨机盖和螺栓的变形量最小,所以机器人的末端执行器设计为同时拧紧装置。利用SolidWorks软件完成三维模型设计,主要包括固定桁架结构、桁架行走系统、六自由度机械臂。通过以上分析,为以后此类产品的设计和优化提供了理论参考依据。

In this research,a ball mill cover opening and closing robot is designed for the ball mill cover opening and closing work.In the scheme design,by comparing the bolt tightening torque control method,the bolt tightening torque control method on the ball mill cover is selected as the angle control method.The Workbench is used to simulate the tightening sequence of the bolts on the ball mill cover,compare the deformation of the ball mill cover and bolts under different sequences,and determine that the deformation of the ball mill cover and bolts is the smallest under the condition of simultaneous tightening,so the end actuator of the robot is designed as a simultaneous tightening device.Using SolidWorks software to complete the three-dimensional model design,mainly including fixed truss structure,truss walking system and six degree of freedom manipulator.The above analysis provides a theoretical reference for the design and optimization of such products in the future.