Design And Analysis Of Robot Manipulator For Coal Mine Inspection

At present,coal is still important energy material in China,the development of coal industry economy is of great significance to the sustainable development of China's industrial economy.As the coal mine operating equipment mechanization and low level of intelligence,resulting in low coal production efficiency and high incidence of accidents.Mine underground safety production vulnerable to gas,coal spontaneous combustion,mine pressure and other factors,in the event of an accident will cause great loss of people's lives and property.Therefore,both from the country on the macro-control of underground disasters or management of the underground accident prevention considerations,need to establish a comprehensive,scientific and timely reflection of underground production safety hazard identification,evaluation and early warning system,thereby reducing the occurrence of underground accidents to ensure that the mine efficient,safe and economical production.In this paper,by analyzing the actual environment of coal mine,the characteristics and structure of various coal mine robots are studied,the design requirements and overall scheme of coal mine inspection robot are determined,and the following work is completed:(1)design,build inspection robot platform,the inspection robot chassis movement mechanism,the robot body and the power system for detailed theoretical calculation,in order to carry out reasonable selection and structural design.(2)Analyze the kinematic problem of 5-DOF manipulator and establish the parameter table of manipulator connecting rod.The kinematics solution and working space of the manipulator are simulated and analyzed by Matlab,and the cavity of the simulation cloud is shown.Parameter set reasonable,meet the design requirements.(3)Analyze the dynamics problem of the robot,and use ADAMS to simulate the dynamics of the robot.The overall motion of the joint is relatively stable and the maximum torque is not more than 1.58 N · m of the selected steering gear.Reasonable,basically meet the requirements of the robot work;Finally,the dynamics of the robot joint simulation,verify the correct results based on ADAMS simulation results.(4)Using ANSYS to analyze the key carrying parts of the manipulator,the stress and deformation of the boom and the arm are obtained,and the structure and material of the manipulator are verified to meet the requirements of the robot.The modal analysis results show that: The operating frequency of the selected steering gear is much smaller than the inherent flatness of the manipulator,which proves that the robot does not resonate during the working process.(5)Based on the laboratory conditions,the experimental prototype is set up and the experiment is carried out.After several experiments,it can be concluded that the accuracy of the prototype is 65%,and the accuracy of the catching is 80%,which meets the requirements of coal mine design.