Design And Analysis Of Coal Bunker Cleaning Robot

China boasts the world’s largest coal-producing country,and also a coal-consuming country.Coal has become a.significant foundation for the development of the national economy.Coal mine bunker is the key link of coal transportation.At present,the traditional way of clearing is still manual clearance,which is high in danger and labor intensity,and the toxic gas inside the coal bunker is a knotty problem to solve.Therefore,this paper proposes the use of robots instead of manual to conduct a new cleaning method for clearance operations,to use of theoretical derivation,numerical simulation,simulation calculations and other methods to the coal bunker removal robot’s mechanical structure,mechanical characteristics and trajectory planning and other in-depth research.The emergence of the coal warehouse removal robot has realized mechanization and automated warehouse clearance,which has improved the safety and work efficiency of warehouse clearance.The coal bin cleaning robot designed in this paper mainly completes the following contents:(1)Research and development of the mechanism of coal body cleaning robot body.The overall structure of the coal warehouse cleaning robot,combines with the internal space structure and cleaning conditions of the coal warehouse,uses AUTUCAD software to design its body structure,draw a two-dimensional assembly drawing,and select and calculate key components.At last,it focuses on mechanical balance analysis on the whole coal bin cleaning robot.(2)Study on the mechanical characteristics of the trolley on the right balance arm of the coal bin cleaning robot.Establish the static and dynamic models of the walking car,derive the minimum adsorption force equation of the car under the two failure forms of preventing the wall from sliding down and tilting vertically,and the minimum driving force equation required in the straight running mode,and then pass the different inclination angles.Compared with the numerical simulation under different roughness to determine the size of the adsorption force and driving torque of the trolley on the reliable adsorption rail and stable operation.(3)Reliability analysis of key structures of coal bunker plugging robot.First,the layout of the motor of the walking trolley was verified.In the ADAMS simulation software,a single motor drive,a diagonal motor drive and a parallel motor drive were compared and simulated to verify the rationality of the parallel motor drive.At last,the key components and parts were analyzed by static school modal and modal analysis.(4)Track planning and software design of coal bunker plugging robot.comparing the advantages and disadvantages of three walking modes:random path,spiral path and reentry path in the case of known environmental map.According to the actual situation inside the coal bunker and the cleaning mode of the coal bunker clearance robot,a reasonable cleaning path is selected.Finally,the control system and software system of coal bunker plugging robot are given for preliminary design.