| Thin coal seam resources are widely distributed and rich in China, with great economic exploitation value, more and more enterprises began to pay attention to exploit thin seam coal. The mining technology on thin seam has been basically realized comprehensive mechanization and automation, and it’s efficiency and security is greatly improved,with the development of automation technology, it has basically realized the target of "humanization". It’s a high labor intensity for workers because of the narrow space in thin coal seam workface, which making the equipment installation, operation and maintenance more difficult. Sometime maintenance workers squatted check the running situation of the shearer, hydraulic supports and other equipment, some workface with a narrow area even to crawl through.workers feeled backache, leg pain, tired after a working class. especially some underground mining coal face have wet conditions, if the workers work long hours in such a harsh environment, it can causing great harm to their body. Meanwhile, because of thin coal seam in complex geological environment, there is always the roof caving and other dangerous situations, it’s very dangerous when people view the situation in the roof or wall of coal mined-out area.At present,under the environment of digital mine construction and people-oriented, daily maintenance work of the thin coal seam working face is often weak links for the construction goal to realize "mine digital, information and unmanned".In order to relieve maintenance workers’ labor intensity who work on the coal face, it is urgent to design a kind of inspection robot with visual function, as well as adapt to the thin coal seam, which can replace or assist the works’ daily inspection work and meet inspection work of the coal seam working face. The inspection robot can effectively reduce the working face’s casualty accident, and improve the level of construction of digital mine.The natural condition is complicated and geological environment is also poor on the process of mining of the thin coal seam. There are so much obstacles, such as much water on the crossheading of fully mechanized coal working face, the base of hydraulic support, advancing jack, cables, caving rock and conny. And mining roadway ground is narrow and rough, many faults and the large slop of road. The complex road conditions make the mining inspection robot must have strong ability of barrier obstacle avoidance and driving. For the particularity of environment of thin coal seam fully mechanized working face, definite inspection robot need to complete the main function and confirm the specific performance index and technical parameters, which can provide guidance for robot’s design.Crawler robot has the characteristics of topographical adaptation. Large supporting area, small ground pressure, small subsidence, good off-road mobility are the benefits for working on the soft and muddy field. By analyzing and comparing the moving way of existing mobile robot to determine the crawler moving way of the inspection robot. Taking into consideration environmental requirement and technical feature of the mine fully mechanized working face, and by analyzing the features of different characteristics robots, using four rocker track structure as a whole design scheme of inspection robot.Transmission is a major design part for the inspection robot, which concerns about the realization of the robot’s structure properties. From the layout of the overall structure of the robot, rocker arm shaft and the main track wheel drive shaft are in the same center axis. The design adopts the structure of the inner and outer shaft drive, in order to realize the two movements without disturbing each other, includes track wheel rotation and swinging rotating of rocking arm mechanism, which need realize on the same driving shaft. In order to meet the requirement of robot’s compact structure and light quality, the drive motors and gears are distributed rationally.Getting the change law of output torque of the drive motor, by dynamics analyzing when it gets over the obstacles, meet to the robot’s performance requirements, which benefits to choose the rational style for the main drive motor and the rocker motor. Respectively using conventional verification method and finite element method to check strength of the robot’s main components, such as the main shaft and the rocker arm shaft, to improve the reliability of the robot.Referencing the structure of driving method of synchronous belt drive, drive pulley, rubber track and rocker arm mechanism have been designed, housing structure size and strength have been checked. Other systems of the inspection robot have been designed originally, such as rocker arm positioning mechanism, the inspection robot’s arm protection device and lateral support device, which have been required national utility model patent respectively. At the same time, in order to meet the requirement of riot of electrical equipment under the coal mine, the inspection robot have been designed riot property preliminarily. Finally, based on the inspection robot virtual assembly inerrably, test prototypes have been manufactured and assembly Simple crawler tension adjuster has been designed, which solve the problem of crawler off the band and further improve the inspection robot’s overall design.In this thesis, the motion of the robot have been studied aiming at the terrain environment that inspection robot may encounter. and planed the action for these conditions respectively plains, climbing, self support, across the ditch, crossing obstacles etc, that laying a foundation for robot motion control The thin seam mining workface has a complex terrain conditions, which requires inspection robot with strong obstacle ability, one of the main factors affecting the ability of the obstacle is the distribution center position of the robot, which determines the success to obstacle.Based on analysis of inspection robot center position relationship with the front and rear arm dipangle, obstacle height of the robot was optimized. We obtained the following conclusions: the maximum obstacle height is 118.48 mm without the rockerarm auxiliary, and the obstacle height is 232.91 mm when the rocker arm support.To make the robot across the 200 mm, must use a rear rockerarm auxiliary.This thesis introduces the theory of quadruped robot walking gait, and discusses about the present situation of quadruped walking robot research, under the condition of satisfy the assumptions, the robot four-arms 1-4-2-3 walking gait and 1-4-2-2 walking gait were planning, dynamic simulation is carried out respectively in the Adams simulation software, and the gait had been verifid validity. And the stability of two kinds of gaits were calculated, after the contrast analysis, the 3-1-4-2 was simple control under the same duty ratio, stability performance was better than the gait for 1-4-2-3.In this thesis, the kinematics model of the robot with the slide effect was established. and the forward kinematics of the arockearm was analyzed which can be solved at the end of the track position of the rocker arm,It can provide a theoretical basis for further study in posture control of inspection robot. in the process to derivation the dynamics model of crawler inspection robot, the stress conditions of the track and ground interactions had been consided, and the introduction of the longitudinal slip parameter and lateral slip parameter, which makes the robot dynamics equation is more in line with the actual situation, it can accurately reflect the relationship between the track inspection robot robot system inputs and outputs,which lay a theoretical foundation for inspection robot trajectory tracking control.According to D’Alembert’s principle and the Newton- Euler equation, this thesis studied many kinds of special motion state of the robot, such as a straight line in the ground, climbing, obstacle initial state, critical state, rockerarm support state, high step obstacle. We established the model of attitude dynamics and we got the relationship between driving torque of motor and outside influence parameters like swinging angle, body angle, obstacle height and the surface friction coefficient. The relationship provides a basis for selection of main drive motor and improves the robot obstacle crossing ability and ability to adapt to the environment.How to build simulation model accurately will directly affects validity of simulation results, so it is a difficulty to build the virtual prototype model of rubber track robot. In the paper, rubber track has been broken into pieces in the dynamic simulation software ADAMS, and rubber track have been build model by the way of flexible connection during each crawler track segments. Each pieces of track has been built the simulation model based on the macro, and simulation parameters, such as Bushing force and contact force between the track pads and te choice of the solver, have been set reasonably. After testing the built model correctly, the virtual prototype model could been built, which has laid a foundation for the subsequent simulation. Based on the virtual model, many kinds of motion state of the inspection robot, such as straight, climbing, turning and getting over the obstacles, have been built dynamic simulation, and verify the rationality of the robot’s performance index.Finally, the experimental prototype of manufacturing inspection robot have been tested the performance of getting over the obstacles, and it has been proven that performance index of the designed inspection robot have reached the initial design requirements.Thin seam mining face inspection robot indicates that the mobile robot is a new application in the field of coal mining, which involves many disciplines, and the interlacing is very strong, and there are many technical difficulties to be resolved. With the development of automation and information technology, the robots with special functions will be gradually used in the field of coal mining. The development of thin seam mining face inspection, for production safety of the coal mine, has very important significance for industrial inspection in the special and dangerous environments. |
