Design And Analysis Of Special Environment Emergency Excavating Robot

With the wide application of special environment emergency robot,the related research has been paid more and more attention.Work equipment is the direct executor of emergency robot operation.The rationality of structure design and the sensitivity of work process directly reflect the performance of emergency robot.Therefore,it is great significance to design and study the working equipment of emergency robot.This paper focuses on the operation equipment of emergency excavating robot.The main contents include:The three-dimensional solid model of emergency excavating robot working equipment is established and the mechanism of working equipment design is analyzed.The design of the three section type manipulator and the compound dug bucket are put forward.The three section design of manipulator,not only can enlarging the control angle of the operation equipment and strengthen the adapt ability,but also can suitable for a special environmen.The box type design of Each arm,which not only reduces the quality of the operating equipment and increases the strength of the manipulator,but also helps the internal installation of the hydraulic cylinder.In this paper,a terminal duer with three different functions has been developed.Its main functions include:digging of materials,grasping of obstacles and expanding of obstacles.So it is necessary to analyze the digging resistance of the operation equipment in mining working.According to the actual situation of the operation of the excavating robot,this paper has been analysis and computation on the digging resistance in the mining working equipment.The basic theories of ADAMS kinematics and dynamics are introduced.This paper analyzed the key points of the operation equipment and worked out the physical prototype of the emergency excavating robot.The two working conditions are material extraction condition and pickup obstacles condition.The kinematics and dynamics analysis of emergency excavating robot operation equipment are carried out in the two working conditions.The 3D solid model was built for the operation equipment of the emergency excavating robot.The kinematic and dynamic simulation analysis is carried out for the mining state and grasping state,which can obtain the related operating parameters by ADAMS.In this paper,the operation range of the emergency excavating robot operation equipment was carried out simulation verification by the sequential action.The main parameters are arm mining radius,limit mining operation depth,limit mining operation height,and limit discharge height,lifting radius and lifting depth of obstacles.The stress situation of the joint point of the excavating robotic arm is checked in the mining state and the static strength of the mechanical structure is checked.The particularity of the working environment of the emergency excavating robot,due to the mechanical arm of the operation equipment happened fatigue damage.It is necessary to analyze the fatigue life of the excavating robot arm.Through static analysis ANSYSWorkbench,this paper had carried out the fatigue analysis for each arm of the working equipment.Finally,the fatigue life parameters of the operating equipment are obtained under the condition of mining.Through theoretical calculation and simulation,this paper obtained the main optimal parameters of the operating equipment.At the same time,this paper successfully designed the operation equipment of the emergency excavating robot.To simulate and analyze the operation equipment of the emergency excavating robot by the simulation software,so that the design of the operation equipment is reasonable and reliable.This paper also provides data reference and thought reference for the design of the operation equipment of emergency excavating robot in the future.