Structure Design And Motion Analysis Of Coal-gangue Sorting Robot

In order to realize the automation and intelligent sorting of coal and gangue,reduce the investment and production cost of coal washing and improve the quality of coal,aim at the problems of resource waste,environmental pollution,low efficiency and high cost in the current coal,the coal-gangue sorting robot was designed in this paper.The robot body structure was designed,mechanical analysis,kinematics analysis and transient dynamics analysis were proposed,and a multi-mechanical arm collaborative coal-gangue sorting scheme was proposed,the main research content as follows:(1)The existing sorting robot structure,the environment of the coal washing plant where the sorting work is located,and the physical parameters and structural characteristics of the sorting target were analyzed.The design scheme of the coal-gangue sorting robot is proposed,and the coal-gangue sorting robot was established.The three dimensional model of coal and gangue sorting robot was established and the driving motor and cylinder of each joint of the robot were selected.(2)Ansys software was used to conduct mechanical analysis on the structure of coal and gangue sorting robot,and to conduct transient dynamic analysis on the coal and gangue sorting robot,so as to ensure sufficient mechanical strength of the sorting robot in static and moving state.Through the modal analysis of the robot underframe,resonance is avoided during the sorting.(3)Through D-H method,the kinematics model of the coal and gangue sorting robot is established,the relationship between each link of the robot is described,and the forward and reverse kinematics solution is completed.On this basis,the single-arm sorting strategy was proposed,and the X-axis velocity synchronous planning and the X-axis and Y-axis linkage movement planning methods were designed.A multi-arm coordinated coal and gangue sorting strategy was proposed,and the single-arm sorting strategy was simulated by using ADAMS to verify the feasibility of the movement plan.(4)The prototype of the coal-gangue sorting robot was built.The feasibility of the overall scheme was verified through experiments.