摘要
为了解决煤矸石底面或周边不平整工况下无法精准抓取的难题,设计一种由缓冲装置和抓取装置组成的煤矸石分选柔性机械爪。缓冲装置通过高频低幅摆动,减弱并消除机械爪突然停止和遭受撞击的能量。抓取装置根据煤矸石大小,通过横向连杆结构控制机械爪的张开角度和抓力。机械爪下爪受力超过限值时将不再向下运动,并微调抓取角度,自适应不规则物体形状,减少了损伤率、带煤率和受阻率,提高了煤矸石的抓取率和夹持的稳定性。
To solve the problem of inaccurate grasping of coal gangue under uneven working conditions,a flexible mechanical claw for coal gangue sorting is designed,which is composed of a buffer device and a grasping device.The buffering device weakens and eliminates the energy from sudden stops and impacts of the mechanical claw through high-frequency and low amplitude oscillation.The grabbing device controls the opening angle and grasping force of the mechanical claw through a horizontal connecting rod structure based on the size of the coal gangue.When the force on the lower claw of the mechanical claw exceeds the limit value,it will no longer move downward and adjust the grasping angle to adapt to the irregular object shape,reducing the damage rate,coal carrying rate,and obstruction rate,and improving the grasping rate and clamping stability of coal gangue.
作者
徐傲
冀连权
刘仁明
XU Ao;JI Lianquan;LIU Renming(Nanjing YHD Intelligent Solutions Co.,Ltd,Nanjing 210031,China;CCTEG Nanjing Design and Research Institute Co.,Ltd.,Nanjing 210031,China)
出处
《煤炭技术》
CAS
2024年第3期259-261,共3页
Coal Technology
基金
中煤科工集团南京设计研究院有限公司重点科研项目(ZL21-KY01)。
关键词
柔性机械爪
缓冲装置
横向连杆结构
抓取角度
flexible mechanical claw
buffer device
lateral connecting rod structure
grab angle
作者简介
徐傲(1992-),安徽滁州人,助理工程师,硕士,研究方向:煤矿机械设备设计与应用,电子信箱:369760344@qq.com.
