【摘要】 为提高煤矿带式输送机在更换损坏托辊时的维护效率，减小人工更换产生的安全风险，文中设计了一种可在带式输送机不停机状态下进行托辊更换的更换车。针对不停机更换托辊的工作要求，确定更换车的更换方案，并建立三维模型。采用D-H参数法建立更换车机械手的连杆坐标系，通过MATLAB软件机器人工具箱建立机械手模型，并用蒙特卡洛法确定机械手的工作空间，结果表明，其运动范围满足槽型托辊组3个托辊的更换。采用ADAMS软件对机械手拆卸和安装托辊过程进行仿真，得到损坏托辊和备用托辊的位移曲线，结合夹取结构的运动曲线和运行轨迹，结果表明，机械手的工作过程平稳流畅。采用ANSYS软件对更换车工作中关键受力部件支撑臂和支撑托辊架进行有限元分析，结果表明：两部件强度满足工作要求，保证更换车工作的可靠性。更多还原

【Abstract】 In this article, in order to improve the coal-mine belt conveyor’s maintenance efficiency when it is replacing damaged rollers and reduce the safety risk caused by manual replacement, a replacement vehicle is designed which can replace rollers without stopping the belt conveyor. Since it is required that the rollers are replaced while the belt conveyor doesn’t stop, efforts are made to work out the scheme of the replacement vehicle and set up a three-dimensional model. The D-H parameter method is used to set up the linkage coordinate system of the replacement vehicle’s manipulator. The manipulator model is established by means of the MATLAB robot toolbox, and the manipulator’s workspace is identified with the help of the Monte Carlo method. The results show that the motion range can meet the requirement of replacing three rollers of the grooved roller group. The ADAMS software is used for simulation when the manipulator is disassembling and installing the rollers, and the displacement curves of both the damaged roller and the spare roller are obtained. In combination with the clamping structure’s movement curves and running tracks, it is shown that the manipulator is running steadily and smoothly. The ANSYS software is used to carry on the finite-element analysis on the supporting arm and supporting roller frame, which are the replacement vehicle’s key stress components. It is indicated that the strength of the two components can meet the related requirements and ensure that the replacement vehicle is reliable.更多还原