Structure And Hydraulic System Design Of Roadway End Support Robot’s Manipulator

At present,the transportation of single pillars and end support in the narrow roadway of underground fully mechanized mining face are still in the semi-mechanized and semi-manual extensive transportation mode,with low intelligence,low efficiency and high labor cost.In order to promote the intelligent development process of coal mines,improve work efficiency,and ensure safe production,this thesis designs and studies the structure and hydraulic system of the end support robot’s manipulator in combination with the environmental conditions in the underground narrow roadway and the requirements of support conditions.The main work of the thesis is as follows:(1)The configuration of the manipulator is determined according to the layout of the individual pillars in the roadway and the support workflow,and the threedimensional model of the end support robot manipulator is designed by Pro E software.Then calculate and select the hydraulic drive components,pumps and motors of each joint.(2)Based on the mathematical basis of kinematics analysis,the kinematics model of the manipulator is established by using the modified D-H method;the homogeneous transformation matrix of the end of the manipulator relative to the base coordinate system is obtained by the transformation matrix method,and the kinematics positive solution is obtained;through the analytical method obtain the kinematic inverse solution of the manipulator;establish the kinematic link model of the manipulator in MATLAB based on the established D-H model,and use the Monte Carlo method to simulate the work space of the manipulator,and the simulation results show that the manipulator is compact and the grasping range is large,and it can work in narrow tunnels underground;based on the obtained kinematic inverse solution,the trajectory planning and simulation of the manipulator is carried out in the joint space through the polynomial interpolation method,and the results show that there is no sudden change in the displacement,velocity and acceleration of each joint during the movement process,which can effectively reduce the wear and impact during the movement,and meet the kinematic requirements of the end support robot arm.(3)Through the dynamic model of the rigid body of the manipulator established in the Adams software,explore the dynamic response of the manipulator under different working conditions and extract the loads of each hinge point under the limit working conditions;based on the dynamics simulation results and force analysis,the finite element static analysis of the key parts of the manipulator is carried out in the Workbench software,and the results show that the strength and stiffness of each part will be able to meet the actual engineering needs;through n Code Designlife software,the fatigue life simulation analysis of the supporting arm,the key supporting component of the manipulator,is carried out,and the results show that the minimum number of cycles under extreme conditions meets the design requirements.(4)Design the load-sensitive hydraulic control circuit of the manipulator according to the structure and joint action requirements of the manipulator;respectively analyze the control principle of each subsystem circuit and the energy-saving performance of the system;use the hydraulic system model built in AMEsim software to analyze the circuit The performance is simulated and verified,and the results show that the system responds quickly and the components move smoothly,and has good energy saving performance.The thesis has 97 pictures,16 tables,and 82 references.