Design Of Robot For Opening And Closing Ball Mill Cover

Dust and heat are generated when the ball mill works,Workers open the lid is dangerous,poor quality.Combined with the actual situation of a company,a ball mill cover opening and closing robot is designed and carried out theoretical calculation and simulation verification,The main work is as follows:Compared with the commonly used bolt pre-tightening force control methods,the simultaneous use of torque control method and rotation angle control method is selected.The workbench is used to simulate bolt tightening sequences,the best way is that tightening all four bolts at the same timeThe mechanical structure is designed that include Truss structure,walking system,6DOF robotic arm,end effector.Focus on designing of the end effector with two functions.Finally,used the Solid Works to complete the 3D modeling.Analysis the kinematic of robotic arm,Used the D-H algorithm to build a kinematic model and simulated verification by Matlab,Proved the equation is correct.The kinematics simulation of the manipulator is carried out using Adams,and the displacement,velocity and acceleration curves of each joint are obtained.The simulation results show that each joint of the manipulator works smoothly during the movement.The working space of the manipulator is solved by the Monte Carlo method,and the simulation verification is carried out in Matlab,which proves that the working space meets the working requirements.The error factors are analyzed,the Chebyshev polynomial is used to establish the error estimation model,and the optimal solution in the error estimation model is found through the Chebyshev coefficient identification.Carried out finite element analysis on the truss structure and the bearing seat of the end effector,and carried out the lightweight and structural optimization design of the truss,which proves that the truss and the bearing seat work stably and reliably.Figure 67;Table 14;Reference 48...