Development Of Mining Exoskeleton Assisted Robot Equipped With Heavy Machinery

At present,coal mine robots have been applied on a large scale,and coal mines have basically realized mechanized production of working faces,but there are still many working conditions that are not suitable for the use of large equipment,such as complex roadway maintenance,small chambers tunneling,and anchor bolt driving.Artificial manual labor is still irreplaceable.Exoskeleton robots can improve people's physical ability in certain aspects such as walking durability and load-bearing ability.Therefore,an exoskeleton robot used to assist coal miners' work is of great significance.Aiming at the complex environment and actual working conditions in coal mines,this article designs an exoskeletonassisted robot to assist workers in moving and operating heavy pneumatic picks and other tools to reduce workers' labor intensity and improve operating efficiency.First of all,the main movement characteristic parameters of human body during the operation with heavy pneumatic picks are collected to determine the range of motion of various joints and body parts,which is used as the basic data of exoskeleton dimension and joint freedom design.Based on the analysis of the characteristic movements of the machine operation and the determination of the main factors that cause worker fatigue and labor intensity,the power configuration scheme of the freedom degree of exoskeleton is determined.Based on the above analysis,the design of the exoskeleton model is completed.In order to make the exoskeleton can coordinate with the human body movement,the configuration design of exoskeleton adopts the bionics design idea.The exoskeleton robot is divided into two parts: upper limb lifting platform and lower limb biomimetic mechanical leg,which can be quickly dressed and adapt to operators of different body types.The main force of machine and tool operation is assumed by the exoskeleton to achieve the effect of force assistance.Due to the explosion-proof requirements for coal mines,a set of purely mechanical trigger device is designed,which can detect the movement displacement of human body and use it as the input signal of the control switch to control the actuator to follow the movement of human body.The whole man-machine system forms a closed mechanical feedback servo control system,which avoids the use of electricity.The power of the whole set of mechanism comes from the high pressure air path which is convenient to be used in the underground roadway.A gas-liquid booster pump is integrated on the back,which converts pneumatic to hydraulic for the booster.According to the designed exoskeleton configuration,a human-machine wearing model is established,and ADAMS software is used to perform kinematics and dynamics simulation on its normal walking gait to verify the rationality of its structural design and optimize its structural parameters.Based on the analysis of the pressure of the sole and the force of the back,the assistance effect and comfort factors of the exoskeleton are obtained.The prototype test platform of exoskeleton robot is built,and the wearable test of the physical prototype is carried out.The interaction force of man-machine contact is tested through sensors,and the assistance effect of exoskeleton and wearable comfort are quantitatively evaluated.Through repeated experiments,the reliability of the structure design and control strategy of the exoskeleton robot is verified,and the assistance effect of wearing the exoskeleton robot and the degree of reducing human labor intensity are obtained.