研制了一种专门用于大型球磨机衬板换装作业的机械手,该机械手具有7个自由度,可实现水平进给、水平回转、吊臂伸缩、臂架举升、手部回转、手部摇摆、衬板指端夹取等多种动作。采用机电一体化控制技术使其快速接近各类大型球磨机的衬板换装作业面,其最大抓取质量为2000kg,是目前国内载荷最大的磨机衬板换装设备。 Developed a robot specifically for large-scale ball mill liner replacement operations, the robot has seven degrees of freedom, horizontal feed, horizontal rotation, telescopic boom, boom lift, hand rotation, hand swing , Liner finger grip and other actions. The use of mechanical and electrical integration control technology to make it quickly close to all types of large ball mill liner dressing operation, the maximum crawl quality of 2000kg, is currently the largest load of the mill liner refitting equipment.