摘要
研制了一种专门用于大型球磨机衬板换装作业的机械手,该机械手具有7个自由度,可实现水平进给、水平回转、吊臂伸缩、臂架举升、手部回转、手部摇摆、衬板指端夹取等多种动作。采用机电一体化控制技术使其快速接近各类大型球磨机的衬板换装作业面,其最大抓取质量为2000kg,是目前国内载荷最大的磨机衬板换装设备。
This paper introduces a new special 7-DOF manipulator used to change relining operation of the large mill so as to achieve many movements, including horizontal feed, horizontal rotation, boom dilation, arm lift, hand rotation, hand swinging, reaching plates by fingers and so on. Besides, mechanical ＆ electrical integral control technology can.fast access to the relining working areas of various large mills, its maximum ability is up to 2000kg and also it is the mill relining equipment with maximum load.
出处
《矿山机械》
北大核心
2009年第5期67-70,共4页
Mining & Processing Equipment
关键词
球磨机
衬板
机械手
设计
ball mill
plate
manipulator
design
