Structure Design And Performance Optimization Of Pipe Erecting Machine In Coal Mine Roadway

Auxiliary installation equipment in underground coal mines is one of the significant components of the intelligent mining of coal mines,and also one of the weak links and shortcomings of coal mine safety.In order to realize the operation of unhumanized pipe rack in underground coal mine,based on the design experience of traditional manipulator claw and coal mine drilling machine,this paper designs a kind of coal mine roadway pipe rack equipment integrating transport pipe,pipe rack,pipe nozzle and solid pipe,so as to improve the level of unhumanized operation in underground coal mine.The main tasks are as follows:1)This paper introduces the research background and significance of auxiliary mining equipment in coal mines,as well as the technical difficulties of studying the pipeline erection device of coal mine tunnels,summarizes the research status of the core component of the pipeline erection device,the manipulator claw,and the research overview of the pre-drilling device for the pipe clamping-coal mine drilling rig.Analyzed the structural advantages of the fully automatic drilling rig,summarized the research purpose and research content of the subject,and established the research route of the coal mine tunnel pipe erector device.2)According to the actual working conditions in the coal mine,the overall structure design and system working principle analysis of the pipe rack machine are carried out,the structural design and driving mode selection of the manipulator claw of the core part of the pipe rack machine are carried out,and the early-stage mechanism of the pipe gripper operation-the drilling end device is designed.3)According to the coal mine roadway pipe bender in underground work movement characteristics,to improve institution and analyzes trajectory of manipulator claw,established the mathematical model of the manipulator to claw clip force,and analyzes the main factors affecting hand claw clip force,according to the d-h coordinate method based on frame machine kinematics equation of whole trajectory simulation in MATLAB,the correctness of the model is verified.4)In order to verify whether the structural performance of the designed pipe racking machine is stable,ANSYS statics simulation and ADAMS kinematics simulation were carried out on the main components of the pipe racking machine.The results show that the middle joint of the gripper jaw of the core component manipulator is the weak link in the mechanics of the whole mechanism,and The angle between the claw joints affects the driving force of the hydraulic cylinder.Finally,the structure optimization analysis of the manipulator jaw is carried out with the goal of lightening the structure,and the optimal jaw joint size value is determined.Figure.[55]table[8]reference[70]...