矿用自卸卡车安全维修的机械臂运动特性分析

doi:10.16265/j.cnki.issn1003-3033.2025.S1.0026

中国安全科学学报 ›› 2025, Vol. 35 ›› Issue (S1): 173-179.doi: 10.16265/j.cnki.issn1003-3033.2025.S1.0026

矿用自卸卡车安全维修的机械臂运动特性分析

王伟, 朱健伟, 王世龙, 王蒙

国能宝日希勒能源有限公司, 内蒙古呼伦贝尔 021000

收稿日期:2025-02-17 修回日期:2025-04-18 出版日期:2025-09-03
作者简介:
王伟 (1990—),男,辽宁本溪人,本科,工程师,主要从事机械设计及机械工程方面的工作。E-mail: 2454528098@qq.com。
王世龙, 工程师

Analysis of motion characteristics of manipulator for safe maintenance of dump truck for coal mines

WANG Wei, ZHU Jianwei, WANG Shilong, WANG Meng

National Energy Baori Hiller Energy Co., Ltd., Hulunbuir Inner Mongolia 021000, China

Received:2025-02-17 Revised:2025-04-18 Published:2025-09-03

摘要/Abstract

摘要： 为解决矿用卡车维修不安全、效率低的问题,开发专用于卡车轴销拆卸作业的机械臂并分析其运动性能。首先,利用SolidWorks三维软件建立矿用自卸卡车轴销拆卸机械臂模型,分析矿用轴销拆装机械臂结构及其性能参数;其次,基于改进的D-H建模法,求解机械臂各关节之间的变化矩阵以及运动关系;然后,借助Matlab机器人工具箱以及Adams运动学仿真软件,分析矿用轴销拆卸机械臂的运动性能;最后,对矿用轴销拆装机械臂进行工程实践,验证机械臂工作性能。结果表明:矿用轴销拆装机械臂拆卸安装时间总计为11~15 min,相对于传统的人工拆装大大减少了维修时间。

关键词: 轴销拆装, 机械臂, 运动学分析, 性能仿真, 运动性能

Abstract:

In order to solve the problem of unsafe and inefficient maintenance of mine trucks, a manipulator dedicated to the removal of truck axle pins was developed, and its motion performance was analyzed. Firstly, the model of the axle pin disassembly manipulator of a dump truck for coal mines was established by using SolidWorks 3D software, and the structure and performance parameters of the axle pin disassembly manipulator were analyzed. Secondly, based on the improved D-H modeling method, the change matrix and motion relationship between the joints of the manipulator were solved. Then, with the help of MATLAB robot toolbox and Adams kinematic simulation software, the motion performance of the axle pin disassembly manipulator was analyzed. Finally, the engineering practice of axle pin disassembly and assembly manipulators was carried out to verify the working performance of the manipulator. The results show that the total disassembly and installation time of the axle pin disassembly and assembly manipulators is about 11-15 min, which greatly reduces the maintenance time compared with the traditional manual disassembly and assembly.

Key words: axle pin disassembly, manipulator, kinematic analysis, performance simulation, motion performance

中图分类号:

X943起重及搬运安全

王伟, 朱健伟, 王世龙, 王蒙. 矿用自卸卡车安全维修的机械臂运动特性分析[J]. 中国安全科学学报, 2025, 35(S1): 173-179.

WANG Wei, ZHU Jianwei, WANG Shilong, WANG Meng. Analysis of motion characteristics of manipulator for safe maintenance of dump truck for coal mines[J]. China Safety Science Journal, 2025, 35(S1): 173-179.

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序号	名称	性能
1	侧移范围/mm	-150~150
2	回转范围/(°)	-57.5~57.5
3	摆转范围/(°)	-15~15
4	伸缩距离/mm	0~920
5	整体尺寸	2 250 mm×1 470 mm×1 360 mm

关节i	α_i/(°)	d_i/mm	θ_i/(°)	关节变量
1	0	d₁	0	d₁
2	90	d₂	θ₂	θ₂
3	90	0	θ₃	θ₃
4	-90	d₄	0	d₄

车辆种类	编号	拆卸时间	安装时间	总计拆装时间
洒水车	1	6	7.6	13.6
	2	6.3	8.3	14.6
	3	6.3	5.6	11.9
	4	6.5	7.3	13.8
运输卡车	1	5.6	7.8	13.4
	2	6.1	8.5	14.6
	3	5.6	7.2	12.8
	4	5.6	6.3	11.9
自卸卡车	1	5.3	6.5	11.8
	2	5.9	6.3	11.9
	3	5.3	6.3	11.6
	4	5.7	6.9	13.6
机械式电动挖掘机	1	5.2	6.3	11.8
	2	5.6	6.3	12.4
	3	5.3	6.3	11.6
	4	5.5	7.2	12.7

矿用自卸卡车安全维修的机械臂运动特性分析

Analysis of motion characteristics of manipulator for safe maintenance of dump truck for coal mines

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