远程控制采煤机器人采煤机构的研究  

Study on the Coal Mining Mechanisms of Coal Mining Robot of Remote Control

作　　者：宋胜涛[1] 张浩[1] 李瑞琴[1] 赵佐群 

机构地区：[1]中北大学机械工程与自动化学院,山西太原030051 [2]太原长安重汽有限公司,山西太原030000

出　　处：《中北大学学报（自然科学版）》2010年第6期592-595,共4页Journal of North University of China(Natural Science Edition)

基　　金：山西省研究生优秀创新资助项目(20093074)

摘　　要：以EBZ-30/45小型煤巷掘进采煤机为基础,对远程控制采煤机器人进行了研究.建立了远程控制采煤机器人的三维模型,并分析了其主要组成部分.将采煤机构简化成了混合驱动可控七杆机构模型,利用CO SM O SM otion对远程控制采煤机器人的采煤机构模型进行了仿真与分析,结果表明:通过混合驱动可控机构可以使较小的输入进行足够的放大,这样可以节省能源,体现了混合驱动可控机构的优越性.而且在一个运动周期内有多次冲击,这一特点非常适用于采煤机器人的工作特性,可以减少反作用力,有利于整台设备的运转.Based on small-size coal-roadway driving coal mining machine of EBZ-30/45,a coal mining robot of remote control was studied.Analysis of the main part of the coal mining robot was made on the basis of its established 3D-model.The coal mining mechanisms were simplified to the hybrid-driven seven-bar mechanisms.The model of coal mining mechanisms were simulated and analyzed in COSMOSMotion.The results show that hybrid-driven mechanism can amplify the input,which can save the energy and indicate the advances of hybrid-driven mechanisms.And there exists repeated impact during a motion cycle,which is agreement with working characteristics of the coal mining robot and can decrease the reaction force.It is beneficial to the equipment operation.

关 键 词：采煤机器人 混合驱动 七杆机构 COSMOSMOTION 

分 类 号：TH112[机械工程—机械设计及理论]