端头支护机器人机械臂的设计与仿真分析  

Design and simulation analysis of end-support robot′s manipulator arm

作　　者：史华伟 和佳聪 李忠 王效志 SHI Huawei;HE Jiacong;LI Zhong;WANG Xiaozhi(Otog Front Banner Great Wall Coal Mine Co.,Ltd.,Otog Front Banner 016200,China;School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China;Zhao Guan Energy Co.,Ltd.,Xinwen Mining Group,Dezhou 251100,China)

机构地区：[1]鄂托克前旗长城煤矿有限责任公司,内蒙古鄂托克前旗016200 [2]中国矿业大学机电工程学院,江苏徐州221116 [3]新汶矿业集团有限责任公司赵官能源有限责任公司,山东德州251100

出　　处：《煤炭科技》2024年第4期80-84,90,共6页Coal Science & Technology Magazine

基　　金：江苏省重点研发计划项目(BE2022148)。

摘　　要：目前在井下综采工作面巷道内,对单体支柱进行搬运与支护采用半机械化半人工的搬运模式,效率低且危险性高。首先,结合井下巷道环境与支护要求,对端头支护机器人的机械臂结构进行了设计研究和三维建模;然后,使用Adams软件建立了机械臂刚体动力学模型,并对其各部件在极限工况下进行受力分析;最后,利用Ansys软件对机械臂各部件进行有限元仿真和强度论证。结果表明,端头支护机器人的机械臂各部件中最大应力为147.1 MPa,最大变形量为0.675 mm,均满足设计工况要求,为机械臂的控制及轨迹规划奠定了基础。At present,in the underground comprehensive mining face roadway,a semi-mechanized and semimanual handling mode is used for the transportation and support of individual pillars,which is inefficient and highly dangerous.Firstly based on the underground roadway environment and support requirements,the manipulator arm structure of the end-support robot was designed,researched,and 3D modeled;then,a rigid body dynamics model of the manipulator arm was established using Adams software,and force analysis was conducted on its various components under extreme working conditions;finally,finite element simulation and strength verification of each component of the manipulator arm were conducted using Ansys software.The results showed that the maximum stress in each component of the end-support robot's manipulator arm was 147.1 MPa,and the maximum deformation was 0.675 mm,both of which met the design requirements and laid the foundation for the control and trajectory planning of the manipulator arm.

关 键 词：端头支护 机械臂 刚体动力学 单体支柱 

分 类 号：TD122[矿业工程—矿山地质测量]