摘要我国是一个煤炭生产国，它是煤矿井下煤炭运输的咽喉，是传统的煤炭开采 人工清洗，劳动强度，和墙壁的有毒气体和墙壁的倒塌一直是一个困难的问题来 解决出现问题时，机器人将能够清除机器人的间隙，提高安全关。本文主要介绍 了清仓机，且机械臂在其中起着承担支撑及运作的作用，介绍了支撑臂和工作臂 可来回伸缩的设计理念及创新技术。73843

本文将国内清仓机与国外清仓机的研究进行了对比分析，并通过计算结合手 册选择了适合井下煤仓工作的伸缩机构的型号。机械臂分为两部分，其中起支撑 作用的为支撑伸缩臂，而起工作作用的为工作伸缩臂。我们通过三维建模软件绘 制机械臂的三维视图，并进行了有限元分析和动力学分析。

在机械手的工作过程中，其工作环境复杂，工作环境复杂，主要支撑力为情 况正在发生变化，需要确定的情况，应力和应变。针对机械臂重要部件的静力分 析我们则通过利用 ANASYS 软件来实现。支撑伸缩臂的静力分析在于支撑前端的 变形和应力分析，工作臂的静力分析在于铲煤部位的工况分析。

利用机器人手臂模型建立了三维建模软件，并将其引入到软件中。通过仿真 分析可以明确的知道清仓机机械臂的工作过程及工作状态，并正确验证其各关节 点的受力情况。

该论文有图 16 幅，表 3 个，参考文献 83 篇。

毕业论文关键词：煤仓 清仓机器人 机械臂 ANSYS

Design and simulation analysis of hydraulic machine structure radial clearance

Abstract China is a coal producing countries, it is of mine coal transportation by the throat, traditional coal mining is a manual cleaning, labor intensity, and the walls of the toxic gas and wall collapsed is always a difficult problem to solve problems that robots will be able to clear gap machine, to improve the security clearance. Are introduced in this paper the clearing, and mechanical arm in which plays to assume the role of support and operation, introduces the support arm, and the arm can back and forth telescopic design concepts and innovative technology.

The domestic clearing machine and foreign clearing machine research were compared and analyzed, and the calculation combined with manual selection for underground coal bunker telescopic mechanism models. The mechanical arm is pided into two parts, in which the supporting role is to support the telescopic arm, and the working role of the telescopic arm. We use three-dimensional modeling software to draw the three-dimensional modeling of the manipulator, and the finite element analysis and dynamic analysis are carried out.

In the working process of the manipulator, its working environment is complex, the working environment is complex, the main supporting force for the situation is changing, need to determine the situation, stress and strain. For the static analysis of the important components of the mechanical arm, we use ANASYS software to achieve. The static analysis of the support telescopic arm lies in the deformation and stress analysis of the front end, and the static analysis of the working arm is the analysis of the working condition of the shovel.

The 3D modeling software is built by using the robot arm model, and it is introduced into the software. Through the simulation analysis can clearly know clearance of the machine arm of working process and state, and properly validated the joint force.The 3D modeling software is built by using the robot arm model, and it is

introduced into the software.In the process of simulation and analysis of the working process and the motion state of the manipulator The correctness of the design is verified by analyzing the simulation curve of the joint of the manipulator.