煤矿井下钻锚机器人布网单元设计与仿真
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摘要
针对现有煤矿井下巷道成型永久支护速度慢、效率低、危险性系数较高、人员参与较多等问题,论文提出了一种钻锚机器人,并对其布网单元进行设计,通过SolidWorks对其进行三维建模,并对关键部件的受力情况在ANSYS中进行有限元分析计算;在ADAMS中建立了钻锚机器人布网单元简化样机模型,并对其抓网、运网动作进行运动学仿真分析。结果表明:钻锚机器人布网单元整体结构设计合理,满足支护片网单张稳定抓取、移动、顶放姿态要求,且布网单元机械手的关键部件符合刚度、强度要求。
In view of the problems of low speed,low efficiency,high risk coefficient and more personnel participation in the existing mine tunnel,a drill-anchor robot was proposed,and its layout net unit was designed. modeling it in three dimensions software based on Solid Works,the key components were analyzed and the finite element analysis was carried out in ANSYS software,and the simplified sample model of the layout net unit of the drill-anchor robot was set up in ADAMS software,and drill-anchor robot of layout net unit was simulated and analyzed including catching the net,lifting the net. The results show that The overall structure design of the drill-anchor robot's layout net unit was reasonable,and it satisfies the requirements of stable catching,moving and lifting posture of the supporting net,and the key components of layout net unit manipulator meet the requirements of rigidity and strength.
In view of the problems of low speed,low efficiency,high risk coefficient and more personnel participation in the existing mine tunnel,a drill-anchor robot was proposed,and its layout net unit was designed. modeling it in three dimensions software based on Solid Works,the key components were analyzed and the finite element analysis was carried out in ANSYS software,and the simplified sample model of the layout net unit of the drill-anchor robot was set up in ADAMS software,and drill-anchor robot of layout net unit was simulated and analyzed including catching the net,lifting the net. The results show that The overall structure design of the drill-anchor robot's layout net unit was reasonable,and it satisfies the requirements of stable catching,moving and lifting posture of the supporting net,and the key components of layout net unit manipulator meet the requirements of rigidity and strength.
引文
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[2]存清.煤矿巷道支护技术现状及发展趋势分析[J].山东煤炭科技,2016(8):3-5.
[3]康红普.我国煤矿巷道锚杆支护技术发展60年及展望[J].中国矿业大学学报,2016,45(6):1071-1081.
[4]何杰,崔千里.煤巷掘锚一体化机组快速支护技术研究[J].中州煤炭,2016(11):91-95
[5]杨春海.掘锚一体式掘进机现状及发展[J].煤矿机械,2015,36(8):3-5.
[6]左垒安.巷道掘进支护机器人及其使用方法[P].中国,CN107575235A,2018-01-12.
[7]姜俊英,周展,曹现刚,等.煤矿巷道悬线巡检机器人结构设计及仿真[J].工矿自动化,2018,44(5):76-81.
[8]程京华.车载液压机械臂动态设计与研究[D].阜新:辽宁工业大学,2016.
[9]宁致远.典型机械手臂研究现状综述[J].信息记录材料,2018,19(3):4-5.
[10]夏学文,李峰,郭小刚,等.基于Solidworks的机械手三维建模及其运动仿真[J].煤矿机械,2010,31(10):215-218.
[11]戚顺平,张兴国.基于Solidworks和ANSYS的五自由度关节式机械手结构设计及分析[J].科技创新导报,2014,11(21):71-74.
[12]袁亮.基于ADAMS和AMEsim的工程机械臂液压控制系统联合仿真研究[D].绵阳:西南科技大学,2016.
[13]蒋昊俣,宋健,胡军.基于ADMAS的码垛机械手仿真[J].机床与压,2016,44(23):7-9,14.