煤仓清洁机器人悬挂线缆对机器人本体影响分析  

Impact Analysis of Suspension Cable of Coal Bunker Cleaning Robot on Robot Body

作　　者：邓美州 孙江宏[1,2] DENG Meizhou;SUN Jianghong(College of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China;Institute of Mechatronic Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]清华大学机械电子工程研究所,北京100084

出　　处：《煤炭技术》2024年第1期211-215,共5页Coal Technology

基　　金：国家重大科学仪器专项(2014YQ24044504);2019年产业技术基础公共服务平台项目(0714EMTC000898)。

摘　　要：针对人工清洁大型圆筒煤仓仓壁粘煤效率低、工作强度大等问题,设计一款清洁机器人。首先,提出清洁机器人设计方案;其次,对悬挂线缆进行设计与强度分析;最后,通过对机器人本体有、无悬挂线缆的2种情况,施加工况载荷进行仿真分析,研究悬挂线缆对机器人本体的影响以及验证设计方案的可行性。结果表明,悬挂线缆具有平衡机器人本体在极端工况下受力不均的积极影响,进一步验证了设计方案的可行性。Aiming at the problems of low efficiency and high working intensity of manual cleaning of large cylindrical coal bunker wall,a cleaning robot is designed.Firstly,the design scheme of the cleaning robot is proposed.Secondly,the design and strength analysis of suspension cable is carried out.Finally,through the simulation analysis of the two cases of the robot body with and without suspension cables,the working load is applied to study the influence of the suspension cable on the robot body and verify the feasibility of the design scheme.The results show that the suspension cable has a positive effecton the uneven force of the balance robot body under extreme conditions,which further verifies the feasibility of the design scheme.

关 键 词：清洁机器人 悬挂线缆 煤仓清洁 有限元 

分 类 号：TD242[矿业工程—矿井建设]