无人开采工作面巡检机器人机械臂优化设计

Optimization Design of Robot Arm for Inspection Robot in Unmanned Mining Face

基于大同煤矿集团无人开采工作面的背景,为了使煤矿井下工作面彻底达到“无人化”,设计了一款巡检机器人检修臂。在井下装备出现故障的时候,能够稳定、快速地解决故障,对检修臂进行了驱动系统设计优化,并运用系统分析和仿真的方法。使电机尺寸进一步减小,驱动系统性能指标得到优化,检修机器人的性能进一步得到提升,工作面的“无人化”越来越完善。机器人机械臂优化结果对大同煤矿(集团)煤矿井下无人开采工作面巡检新工作具有指导意义,可为同类煤矿井下类似工作提供借鉴。

Based on the background of the unmanned mining face of Datong Coal Mine Group,in order to completely achieve the"unmanned"working face of coal mine,a patrol robot maintenance arm was designed.When the downhole equipment fails,it can solve the fault stably and quickly,optimize the drive system design of the maintenance arm,and use the system analysis and simulation method.The motor size is further reduced,the performance index of the drive system is optimized,the performance of the maintenance robot is further improved,and the "unmanned" working face is more and more perfect.The optimization results of the robot manipulator have guiding significance for the new work of the unmanned mining face in the underground coal mine of Datong Coal Mine (Group),and it can provide reference for similar work in similar coal mines.