| Rich in coal resources,China is the world’s largest coal mining country.At present,the separation of gangue in China is basically realized manually,with low degree of automation,large noise,heavy dust,and harsh environment,which is seriously harmful to human health.It is imperative to develop an economical,practical,efficient and environmental friendly equipment for gangue sorting.Combination chosen bottles technology,put forward a kind of at the same time satisfy the high speed and overloading manipulator mechanism,the impact of the gangue,the manipulator for three degree of freedom parallel mechanism,installed above the belt conveyor,five of the connecting rod planar2-dof parallel mechanism at the ends of the gripper will spoil the horizontal belt,the parallel mechanism is concatenated linear motion mechanism to keep the hand claw in pushing coal gangue belt running direction and synchronous movement.The attitude of the terminal hand is constrained by the additional toothed belt of the driving arm and the additional parallel auxiliary rod of the driven arm.Kinematics analysis,trajectory planning and servo motor selection calculation of the parallel mechanism are carried out.The motion trajectory and motion law planning of the manipulator in the process of gangue separation were carried out,and the motion law of each trajectory was determined to be a 3-4-5th-degree polynomial to ensure that there was no abrupt change in its acceleration curve.According to the time obtained from the inverse solution of position in the kinematic analysis and the relationship between the rotation Angle of the active arm as the driving function,the motion simulation of the gangue sorting manipulator prototype was carried out,and the motion curve of the terminal moving platform and the 3-4-5th-degree polynomial motion curve were compared and analyzed to verify the feasibility of the manipulator.Based on the above theoretical research content,a prototype of the gangue separator manipulator was developed and applied to the coal separation production line in Tangshan Mine of Kailuan Group.The manipulator operated stably in the gangue separation work.Figure 64;Table 3;Reference 49... |
