Research On Body And Hydraulic System Of Crawler Gantry Supporting Robot For Coal Mine Roadway

Aiming at the problem of temporary support in the tunneling of coal mines under complex geological conditions,in accordance with the design concept of "drilling and anchoring in parallel,intelligent coordination" and the design concept of temporary support of"relieving pressure without leaving the roof,rolling self-adaptive",a proposal that crawler type gantry supporting robot system is proposed.It is designed to support the empty roof area of the working face in time,realize the parallel operation of tunneling and support,and improve the safety and efficiency of roadway tunneling and support.The needs of temporary-support and permanent support for coal mine roadway tunneling under complex geological conditions are researched and analyzed.This paper proposes a coal mine roadway crawler gantry support robot system that can work in cooperation with a tunneling robot.the overall plan of the tunneling and supporting robot system and the crawler-type gantry support robot system are designed,and the process based on the new tunneling robot system is formulated.The body structure of the crawler-type gantry temporary support robot and the gantry drilling and anchoring robot has been researched and designed,including the walking crawler mechanism,the gantry frame mechanism,the drilling and anchoring mechanism,and the supporting synchronous belt mechanism,etc.The parameter calculation and selection of the hydraulic cylinder and hydraulic motor of the support robot have been completed.The kinematics model of the temporary support robot is established,and the forward kinematics and inverse kinematics equations of the drill-anchor mechanism are obtained.The working space of the drill-anchor mechanism is simulated by the Robotics toolbox of MATLAB,and the working range is obtained.The paper complete the analysis of the strength and vibration displacement of the gantry frame and the support timing belt mechanism of the temporary support robot using ANSYS,analyze the walking stability and slippage of the temporary support robot basing on theory,establish dynamic models of temporary support robots under different working conditions using RecurDyn,and conduct the dynamic simulation of the roadway going straight,climbing and turning state.The results show that the parameters of working resistance of the hydraulic column,the driving torque of the motor,etc Meeting the requirements of use.According to the actual working conditions of roadway excavation,with the aid of CAXA,the hydraulic schematic diagram of the support mechanism and walking mechanism of the temporary support robot is established.The hydraulic motor and hydraulic cylinder system is simulated using AMESim software.The simulation results show that the pressure and flow of the hydraulic motor and hydraulic cylinder can reach a stable state in a short time with the adjustment of the load-sensitive pump.The synchronization of the hydraulic column and the performance of the hydraulic motor can meet the normal working requirements of the robot under the robot's straight travel,climbing and steering conditions.