煤矿巷道掘进锚网运输机器人结构设计及运动规划

Structure design and motion planning of bolt mesh transport robot for coal mine tunneling

目前煤矿巷道永久支护作业中锚网运输与布放主要依靠工人操作完成,存在工作效率低、劳动强度大,危险系数高等问题。在团队研发的煤矿智能掘进机器人系统的基础上,提出一种自动取网、送网、布网的锚网运输机器人系统。研究设计了锚网运输机器人机械结构,利用Solidworks建立三维模型,对取网机械臂结构进行力学分析;建立系统作业机制,基于D-H法构建机械臂的运动学模型,并进行其工作空间分析,基于五次多项式插值,求解末端运动轨迹。结果表明锚网运输机器人取网单元结构设计合理,可靠性强,稳定性高,具有较高的运输及布放效率。

At present, the transportation and deployment of bolt mesh in permanent support operations of coal mine roadways mainly rely on manual work, and there are problems such as low efficiency, high labor intensity, and high risk. On the basis of the coal mine intelligent tunneling robot system developed by our team, a bolt mesh transportation robot system that automatically fetches, transports and arranges the mesh is proposed. The mechanical structure of the robot is researched and designed, and a three-dimensional model is established using Solidworks, and a mechanical analysis is taken on the structure of the mesh-taking manipulator;a system operation mechanism is established, a kinematic model of the manipulator is built based on the DH method, and its workspace is analyzed. Fifth degree polynomial interpolation is used to solve the end motion trajectory. The results show that the bolt mesh transport robot has a reasonable structure design, strong reliability, high stability, and high transportation and deployment efficiency.