作为井下煤仓清仓机器人,其主要的功能是清扫煤仓,所以直接执行清仓功能的机械臂就成为了一个十分重要机构。煤铲作为触击仓内壁,需要上下力的作用,包括阻力与动力。文章通过建立井下煤仓清仓机器人机械臂的三维模型,采用动力和静力两个方面的分析来说明井下煤仓清仓机器人机械臂的设计原理和动力机制。 As the downhole bunker clearance robot, its main function is to clean the bunker, so the robotic arm that performs the purge function directly becomes a very important institution. Coal shovels as the impact of the warehouse wall, the role of up and down the need, including resistance and power. This article through the establishment of three-dimensional model of downhole bunker robot robot arm, the use of dynamic and static analysis of two aspects to illustrate the underground coal bunker robot design of the robot arm principle and power mechanism.