| The underground coal bunker is an important hub linking production and transportation.In the process of storaging coal,under the action of water,clay impurities and squeezing force,the phenomenon of coal sticking to the bunker wall will appear.This will reduce the use volume of the coal bunker and block the discharge port of the coal bunker.In severe cases,it will affect the normal production of underground mines.Due to the small inlet size,the low lifting space and the large working size in the bunker,it is difficult for general clearing equipment to clean up well.In order to solve the above problems,this thesis designs a multi-arm telescopic coal bunker clearance robot.The main work is as follows:Firstly,the overall plan of the clearance robot is designed.The telescopic plan of the working boom is compared and selected according to the on-site working conditions and design requirements,and the main working mechanisms in the robot are designed and calculated.The three-dimensional model of whole machine is constructed,and the strength and rigidity of the telescopic arm and sliding pad are analyzed.Secondly,the hydraulic system is designed according to the work process of the clearance robot.Considering many actuators the clearance robot has and the problem of energy loss when the actuators work at the same time,a load-sensitive hydraulic system with better energy saving is selected.The key hydraulic components are selected by calculating parameters.Thirdly,hydraulic system is simulated and analysied.Using AMESim simulation software to build the boom telescopic hydraulic system,the model is analyzed after applying the load,which verifys the correctness of the load-sensitive system model.The cleaning hydraulic system and boom deployment hydraulic system are simulated.According to the analysis of pressure and flow,the cleaning hydraulic system works normally and meets the requirements,and the boom deployment process of the deployment hydraulic system has good synchronization.Through the above analysis,it is also verified that the system has better energy-saving performance,and the selection of components and parameter settings are reasonable.Finally,the control requirements and control plan of the clearance system are designed.From the hardware aspect,the PLC,sensors and expansion modules are selected;in the software aspect,the work process of the PLC in the warehouse and the PLC outside the warehouse are introduced respectively.Building the wireless communication between the two PLCs,it can realize automatic clearance workThe design research shows that the clearance robot has a width of 1350 mm when it is not unfolded,and it can reach 9316 mm after unfolding.It has a small size and large unfolded structure,which meets the size requirements of the coal bunker,and the telescopic structure is reliable.The robot hydraulic system can adapt to changes in the load during cleaning,which can supply oil and pressure on demand;through the common control of two PLCs,automatic clearance work can be realized.This paper contains 71 figures,17 tables and 81 references. |
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